Method and communication device for sidelink communication

Abstract

Provided are a method and a communication device for sidelink communication, the method comprising: a first device receiving first information, the first information being used to indicate synchronization information of a first terminal device and / or synchronization information of a second terminal device; and the first device positioning a third terminal device according to the first information.

Description

Technical Field

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

[0002] In a side-by-side communication system, terminal devices can synchronize based on different synchronization sources. If two terminal devices do not synchronize through each other, synchronization timing differences may exist between them, which can cause numerous problems. Summary of the Invention

[0003] This application provides a method and a communication device for side-to-side communication. The various aspects involved in the embodiments of this application will be described in detail below.

[0004] In a first aspect, a method for side-by-side communication is provided, comprising: a first device receiving first information, the first information being used to indicate synchronization information of a first terminal device and / or synchronization information of a second terminal device; the first device locating a third terminal device based on the first information.

[0005] In a second aspect, a method for side-by-side communication is provided, comprising: a first terminal device sending first information to a first device, the first information being used to indicate synchronization information of the first terminal device and / or synchronization information of a second terminal device, the first information being used by the first device to locate the third terminal device.

[0006] Thirdly, a method for side-by-side communication is provided, comprising: a second terminal device sending first information to a first device, the first information being used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device, the first information being used by the first device to locate the third terminal device.

[0007] Fourthly, a communication device is provided, the communication device being a first device, the device comprising: a receiving unit for receiving first information, the first information being used to indicate synchronization information of a first terminal device and / or synchronization information of a second terminal device; and a positioning unit for positioning a third terminal device based on the first information.

[0008] Fifthly, a communication device is provided, the communication device being a first terminal device, the device comprising: a first transmitting unit, configured to transmit first information to the first device, the first information being configured to indicate synchronization information of the first terminal device and / or synchronization information of a second terminal device, the first information being configured by the first device to locate the third terminal device.

[0009] In a sixth aspect, a communication device is provided, the communication device being a second terminal device, the device comprising: a transmitting unit, configured to transmit first information to a first device, the first information being used to indicate synchronization information of the first terminal device and / or synchronization information of the second terminal device, the first information being used by the first device to locate the third terminal device.

[0010] A seventh aspect provides a communication device including a transceiver, a memory, and a processor, wherein the memory is used to store a program, the processor is used to invoke the program in the memory, and to control the transceiver to receive or transmit signals so that the communication device performs the method as described in any one of the first to third aspects.

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

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

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

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

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

[0016] This application embodiment, by obtaining the synchronization information of the first terminal device and / or the synchronization information of the second terminal device (i.e., the first information), helps to determine the synchronization timing differences between the first terminal device and the second terminal device, providing a basis for resolving the impact of synchronization timing differences. For example, the positioning error of the terminal device can be processed based on the first information, thereby helping to improve the accuracy of the positioning results of the terminal device. Attached Figure Description

[0017] Figure 1 This is a system architecture example diagram of a wireless communication system applicable to embodiments of this application.

[0018] Figure 2 This is an example diagram of a side-to-side communication scenario within network coverage.

[0019] Figure 3 This is an example diagram of a scenario involving side-to-side communication within partial network coverage.

[0020] Figure 4 This is an example diagram of a scenario involving side-channel communication outside of network coverage.

[0021] Figure 5 This is a scenario example diagram based on side-by-side communication from a central control node.

[0022] Figure 6 This is an example diagram of a broadcast-based side-by-side communication method.

[0023] Figure 7 This is an example diagram of a side-by-side communication method based on unicast.

[0024] Figure 8 This is an example diagram of a side-by-side communication method based on multicast.

[0025] Figure 9 This is a schematic diagram illustrating the synchronization timing differences between terminal devices.

[0026] Figure 10 This is a schematic diagram illustrating another type of synchronization timing difference between terminal devices.

[0027] Figure 11 This is a flowchart illustrating a method for side-to-side communication provided in an embodiment of this application.

[0028] Figure 12 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application.

[0029] Figure 13 This is a schematic diagram of the structure of a communication device provided in another embodiment of this application.

[0030] Figure 14 This is a schematic diagram of the structure of a communication device provided in another embodiment of this application.

[0031] Figure 15 This is a schematic diagram of the structure of an apparatus that can be used in the embodiments of this application. Detailed Implementation

[0032] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0033] Communication system architecture

[0034] Figure 1This is a system architecture example diagram of a wireless communication system 100 applicable to embodiments of this application. The wireless communication system 100 may include a network device 110 and a terminal device 120. The network device 110 may be a device that communicates with the terminal device 120. The network device 110 may provide communication coverage for a specific geographical area and may communicate with the terminal device 120 located within that coverage area.

[0035] Figure 1 An exemplary network device and a terminal device are shown. Optionally, the wireless communication system 100 may include one or more network devices 110 and / or one or more terminal devices 120. For a network device 110, the one or more terminal devices 120 may all be located within the network coverage area of ​​the network device 110, or all may be located outside the network coverage area of ​​the network device 110, or some may be located within the coverage area of ​​the network device 110 and others outside the network coverage area. This application embodiment does not limit this.

[0036] Optionally, the wireless communication system 100 may also include other network entities such as a network controller and a mobility management entity, which is not limited in this embodiment.

[0037] It should be understood that the technical solutions of the embodiments of this application can be applied to various communication systems, such as: 5th generation (5G) systems or new radio (NR), long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, etc. The technical solutions provided in this application can also be applied to future communication systems, such as 6th generation mobile communication systems, satellite communication systems, etc.

[0038] The terminal device in this application embodiment can also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), mobile terminal (MT), remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device. The terminal device in this application embodiment can be a device that provides voice and / or data connectivity to a user, and can be used to connect people, objects, and machines, such as a handheld device with wireless connectivity, vehicle-mounted device, etc. The terminal devices in the embodiments of this application can be mobile phones, tablets, laptops, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, self-driving, remote medical surgery, smart grids, transportation safety, smart cities, and smart homes, etc. Optionally, the UE can act as a base station. For example, the UE can act as a scheduling entity, providing sidelink signals between UEs in V2X or D2D, etc. For example, cellular phones and cars communicate with each other using sidelink signals. Cellular phones and smart home devices communicate without relaying communication signals through a base station.

[0039] The network device in this application embodiment can be a device for communicating with a terminal device. This network device can also be called an access network device or a wireless access network device, such as a base station. In this application embodiment, the network device can refer to a radio access network (RAN) node (or device) that connects the terminal device to the wireless network. A base station can broadly encompass, or be replaced by, various names including: NodeB, evolved NodeB (eNB), next-generation NodeB (gNB), relay station, access point, transmitting and receiving point (TRP), transmitting point (TP), master MeNB, auxiliary SeNB, multi-mode radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. A base station can be a macro base station, micro base station, relay node, donor node, or similar, or a combination thereof. A base station can also refer to a communication module, modem, or chip installed within the aforementioned equipment or apparatus. Base stations can also be mobile switching centers, devices that perform base station functions in device-to-device (D2D), vehicle-to-everything (V2X), and machine-to-machine (M2M) communications, network-side devices in 6G networks, and devices that perform base station functions in future communication systems. Base stations can support networks using the same or different access technologies. The embodiments of this application do not limit the specific technologies or device forms used in the network equipment.

[0040] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move depending on the location of the mobile base station. In other examples, a helicopter or drone can be configured as a device to communicate with another base station.

[0041] In some deployments, the network device in this application embodiment may refer to a CU or a DU, or the network device may include both a CU and a DU. The gNB may also include an AAU.

[0042] Network devices and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can also be deployed in the air on airplanes, balloons, and satellites. This application does not limit the scenario in which the network devices and terminal devices are located.

[0043] It should be understood that all or part of the functions of the communication device in this application can also be implemented by software functions running on hardware, or by virtualization functions instantiated on a platform (e.g., a cloud platform).

[0044] Side-to-side communication under different network coverage conditions

[0045] Sidelink communication refers to communication technologies based on sidelinks. Examples of sidelink communication include device-to-device (D2D) and vehicle-to-everything (V2X) communication. In traditional cellular systems, data transmission occurs between terminal devices and network devices, while sidelink communication supports direct data transmission between terminal devices. Compared to traditional cellular communication, direct data transmission between terminal devices offers higher spectral efficiency and lower latency. For example, V2X systems utilize sidelink communication technology.

[0046] In side-by-side communication, depending on the network coverage of the terminal device, side-by-side communication can be divided into side-by-side communication within network coverage, side-by-side communication with partial network coverage, and side-by-side communication outside network coverage.

[0047] Figure 2 This is an example diagram illustrating a scenario of lateral communication within network coverage. Figure 2 In the scenario shown, both terminal devices 120a are within the coverage area of ​​network device 110. Therefore, both terminal devices 120a can receive configuration signaling from network device 110 (configuration signaling in this application can also be replaced with configuration information), and determine the side-link configuration based on the configuration signaling from network device 110. After both terminal devices 120a have performed side-link configuration, side-link communication can be performed on the side-link link.

[0048] Figure 3 This is an example diagram illustrating a scenario involving side-by-side communication within partial network coverage. Figure 3In the scenario shown, terminal device 120a and terminal device 120b engage in sidelink communication. Terminal device 120a is within the coverage area of ​​network device 110, therefore it can receive configuration signaling from network device 110 and determine its sidelink configuration based on this signaling. Terminal device 120b is outside the network coverage area and cannot receive configuration signaling from network device 110. In this case, terminal device 120b can determine its sidelink configuration based on pre-configuration information and / or information carried in the physical sidelink broadcast channel (PSBCH) sent by terminal device 120a, which is within the network coverage area. After both terminal devices 120a and 120b have performed sidelink configuration, sidelink communication can then commence on the sidelink link.

[0049] Figure 4 This is an example diagram illustrating a scenario of side-way communication outside network coverage. Figure 4 In the scenario shown, both terminal devices 120b are located outside the network coverage area. In this case, both terminal devices 120b can determine their side-link configuration based on pre-configuration information. After both terminal devices 120b have performed their side-link configuration, side-link communication can be performed on the side-link link.

[0050] Side-by-side communication based on the central control node

[0051] Figure 5 This diagram illustrates a scenario for side-by-side communication based on a central control node. In this scenario, multiple terminal devices can form a communication group, and this group includes a central control node. The central control node can be one of the terminal devices within the communication group (e.g., a terminal device within the group). Figure 5 The terminal device 1 in the middle, which can also be called the clusterhead (CH) terminal device, can be responsible for performing one or more of the following functions: establishing communication groups, joining and leaving communication group members, coordinating resources within the communication group, allocating sideline transmission resources to other terminal devices, receiving sideline feedback information from other terminal devices, and coordinating resources with other communication groups.

[0052] Data transmission method of side-by-side communication

[0053] Some lateral communication systems (such as Long Term Evolution Vehicle to Everything (LTE-V2X)) support broadcast-based data transmission (hereinafter referred to as broadcast transmission). For broadcast transmission, the receiving terminal can be any terminal device surrounding the sending terminal. Figure 6 For example, terminal device 1 is the sending terminal, and the corresponding receiving terminal is any terminal device around terminal device 1, such as... Figure 6 Terminal devices 2-6 in the middle.

[0054] In addition to broadcast transmission, some communication systems also support unicast-based data transmission (hereinafter referred to as unicast transmission) and / or multicast-based data transmission (hereinafter referred to as multicast transmission). For example, the new radio vehicle to everything (NR-V2X) aims to support autonomous driving. Autonomous driving places higher demands on data interaction between vehicles. For example, data interaction between vehicles requires higher throughput, lower latency, higher reliability, wider coverage, and more flexible resource allocation. Therefore, to improve the performance of data interaction between vehicles, NR-V2X introduces unicast and multicast transmission.

[0055] For unicast transmission, the receiving terminal typically consists of only one terminal device. Figure 7 For example, unicast transmission occurs between terminal device 1 and terminal device 2. Terminal device 1 can be the sending terminal and terminal device 2 can be the receiving terminal, or terminal device 1 can be the receiving terminal and terminal device 2 can be the sending terminal.

[0056] For multicast transmission, the receiving terminal can be a terminal device within a communication group, or it can be a terminal device located within a certain transmission distance. Figure 8 For example, terminal device 1, terminal device 2, terminal device 3, and terminal device 4 constitute a communication group. If terminal device 1 sends data, then the other terminal devices in the group (terminal devices 2 to 4) can all be receiving terminals.

[0057] In a sidechain system (also known as a sidelink communication system), terminal devices can synchronize through one or more of the following: GNSS, base stations, and synchronization reference terminal nodes. In other words, the types of synchronization sources can include GNSS, base stations, and synchronization reference terminal nodes.

[0058] Typically, terminal devices within the coverage area of ​​a base station will directly synchronize with the base station, or in other words, use the base station as a synchronization source. It should be noted that synchronizing with the base station can also mean synchronizing with the cell under the base station, or synchronizing with the cell itself, where the cell is within the base station's coverage area.

[0059] In some embodiments, the terminal device can also be directly synchronized to GNSS, such as GNSS satellites or ground stations.

[0060] In some embodiments, the terminal device may also synchronize with a synchronization reference terminal node. This synchronization reference terminal node may be directly synchronized with the terminal device of the base station or GNSS, or it may be indirectly synchronized with the terminal device of the base station or GNSS.

[0061] When two terminal devices (taking the first terminal device and the second terminal device as an example) communicate via a sidelink, if the first terminal device and the second terminal device are not synchronized through each other, then the transmit and receive timing of the first terminal device and the second terminal device will differ, or in other words, their synchronization timing will differ. The situation described above, where the first terminal device and the second terminal device are not synchronized through each other, can refer to the case where the first terminal device is not the synchronization source of the second terminal device, and the second terminal device is not the synchronization source of the first terminal device.

[0062] The following section uses the synchronization source of the anchor terminal device and the target terminal device as an example to introduce the differences in synchronization timing based on the synchronization source of the anchor terminal device and the target terminal device.

[0063] Figure 9 The diagram shows the synchronization time difference between the anchor UE and the target UE when the UE and the target UE are synchronized to the same synchronization source.

[0064] For a small-scale lateral communication system within a region, most anchor terminal devices and target terminal devices will synchronize to the same synchronization source. See also Figure 9 Both the target UE and the anchor UE are synchronized to the same synchronization source. Figure 9 The synchronization timing of the target UE and the anchor UE will differ because the target UE and the anchor UE are at different distances from the synchronization source UE.

[0065] Figure 10 The diagram shows the synchronization time difference between the anchor UE and the target UE when they are synchronized to different synchronization sources.

[0066] See Figure 10 The anchor UE is synchronized to the synchronization source UE1, and the target UE is synchronized to the synchronization source UE2. Since the target UE and the anchor UE are at different distances from their respective synchronization source UEs, there will be differences in the synchronization timing between the target UE and the anchor UE.

[0067] The above-mentioned problems may also occur when the synchronization source of the anchor terminal device and the target terminal device is the same base station or different base stations, or GNSS.

[0068] exist Figure 9 or Figure 10In this scenario, even if the location server knows the location of the synchronization source and the location of the anchor terminal user, it cannot obtain the synchronization timing differences between the anchor terminal users or between the anchor terminal user and the target terminal user because the location of the target terminal user is unknown.

[0069] The aforementioned differences in synchronization timing (also known as synchronization error or synchronization time difference) can cause many problems.

[0070] When performing positioning in a lateral positioning system, for example, distance or angle measurements can be taken between the target terminal device and / or the anchor terminal device to obtain positioning-related information for the target terminal device. However, synchronization errors between the target terminal device and the anchor terminal device, or between the anchor terminal devices themselves, can introduce errors in estimating propagation delay or angle information, thereby reducing the accuracy of the positioning results.

[0071] It should be noted that anchor point terminal equipment refers to a user terminal that serves as a reference point or benchmark in positioning, measurement, or other functions. Anchor point terminal equipment is typically used to provide reference signals or perform measurements to support the positioning of other terminals.

[0072] The impact of synchronization errors on positioning depends on the specific implementation of the positioning system. Generally, synchronization errors may increase the ranging error of the positioning system, thus affecting the accuracy and precision of positioning. Synchronization errors may cause phase shifts in the received signal, resulting in errors in the ranging results, which accumulate with increasing distance. Synchronization errors may also affect time slot division and clock synchronization, causing timestamp shifts in the received signal, and these shifts accumulate over time.

[0073] For example, the propagation delay from terminal device A to terminal device B is 500ns. However, due to the time difference between the time terminal device A sends the data and the time terminal device B receives or sends it, terminal device B will report either the absolute measurement time or its own frame format when reporting. When reporting its own frame format, the propagation delay obtained by the positioning server for location calculation will include the time difference between the time terminal device A sends the data and the time terminal device B receives or sends it. In other words, the propagation delay calculated by the positioning server for location calculation will be greater than, or even much greater than, 500ns.

[0074] Related technologies have proposed several solutions to address the aforementioned problems. For example, using high-precision clock sources and synchronization mechanisms can reduce the magnitude of synchronization errors. Increasing the number of anchor point terminal devices can improve measurement accuracy and reduce the cumulative effect of errors. Combining other sensors or technologies, such as inertial measurement units (IMUs) or geomagnetic sensors, can improve the robustness and accuracy of the positioning system. However, the impact of synchronization errors still exists, and its effect on positioning cannot be ignored.

[0075] To address the aforementioned issues, this application provides a method for side-by-side communication. A first device acquires synchronization information from a first terminal device and / or a second terminal device (i.e., first information), thereby helping to determine the synchronization error between the first and second terminal devices and providing a basis for mitigating the impact of synchronization errors. For example, the positioning error of the terminal device can be processed based on the first information, thereby helping to improve the accuracy of the terminal device's positioning results.

[0076] Figure 11 This is a flowchart illustrating the lateral positioning method provided in an embodiment of this application. Figure 11 This method can be applied to side-channel communication systems. The following section discusses the interaction between the first device, the first terminal device, and the second terminal device. Figure 11 The method shown is described below.

[0077] In some embodiments, the first terminal device and the second terminal device can be terminal devices that perform side-by-side communication. Obtaining synchronization information from the first terminal device and / or the second terminal device helps to achieve synchronization calibration between the first terminal device and the second terminal device.

[0078] For example, the first terminal device and / or the second terminal device can be terminal devices participating in lateral positioning. As an example, both the first terminal device and the second terminal device are reference terminal devices participating in lateral positioning. Obtaining synchronization information from the first terminal device and / or the second terminal device helps to achieve synchronization between the reference terminal devices and helps to resolve positioning errors caused by synchronization errors.

[0079] In some embodiments, the first device is a device capable of location management, or a terminal device with location management functionality. For example, the first device can be a location server.

[0080] Figure 11 The method shown may include steps S1110 and S1120.

[0081] In step S1110, the first device receives the first information.

[0082] The aforementioned first information can be used to indicate the synchronization information of the first terminal device and / or the synchronization information of the second terminal device. The synchronization information mentioned here can be, for example, information associated with the synchronization status of the terminal devices. For instance, the synchronization information may include information associated with the synchronization source, time difference information, and round-trip delay between the terminal devices. The time difference information may include the synchronization error information mentioned above.

[0083] In step S1120, the first device locates the third terminal device based on the first information.

[0084] In some embodiments, the third terminal device may be the target terminal device mentioned above. The third terminal device may receive pilot signals sent by the first terminal device and / or the second terminal device; the third terminal device may also send pilot signals to the first terminal device and / or the second terminal device.

[0085] The aforementioned pilot signals can be signals used for lateral positioning, such as positioning reference signals (PRS).

[0086] In related technologies, the first device can estimate the location information of the third terminal device based on the propagation delay and / or angle information of the pilot signals transmitted between the first terminal device, the second terminal device, and the third terminal device. In some embodiments, the first device can estimate the location information of the third terminal device based on the first information, the propagation delay and / or angle information of the pilot signals transmitted between the first terminal device, the second terminal device, and the third terminal device.

[0087] In this embodiment, obtaining synchronization information between the first and second terminal devices facilitates synchronization calibration of either device. Furthermore, using this synchronization information to locate the third terminal device helps improve its positioning accuracy.

[0088] In some embodiments, the first information may include one or more of the following: information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; and round-trip time delay between the first terminal device and the second terminal device.

[0089] In some embodiments, the information associated with the synchronization source may include one or more of the following: the type of the synchronization source; the coverage area of ​​the synchronization source; the synchronization connection status of the synchronization source; the cell identification information corresponding to the synchronization source; and the synchronization accuracy information of the synchronization source.

[0090] The types of synchronization sources can include, for example, the base stations, GNSS, and synchronization reference terminal nodes mentioned above.

[0091] In some embodiments, the coverage area or coverage status of a synchronization source can indicate which terminal devices may be synchronized with that synchronization source. Alternatively, based on the coverage area of ​​the synchronization source, it can be determined whether a target device is within the coverage area of ​​the synchronization source. For example, if a first terminal device is within the coverage area of ​​a synchronization source for a second terminal device, then the first terminal device may synchronize with the second terminal device to the same synchronization source. Based on this, synchronization information for the first terminal device and / or the second terminal device can be requested from the synchronization source, thereby reducing the latency of obtaining synchronization information.

[0092] When the synchronization source is a synchronization reference terminal device, the synchronization connection status of the synchronization source can include whether the synchronization source is directly connected to a base station or GNSS, or indirectly connected to a base station or GNSS. An indirect connection, as mentioned here, can refer to the synchronization source connecting to a base station or GNSS through another synchronization reference terminal device. In some embodiments, the synchronization connection status of the synchronization source can determine the mode of interaction with the synchronization source, the resources interacting with the synchronization source, and the source device of the synchronization information. For example, if the synchronization source is a synchronization reference terminal device, and the synchronization source of the synchronization reference terminal device is a base station, then relevant information about the synchronization reference terminal device can be obtained from the base station, and relevant information about the terminal devices synchronized with it, such as synchronization information, can be obtained from the synchronization reference terminal device.

[0093] When the synchronization source is a base station, the synchronization source information may also include the identifier information of the cell corresponding to the synchronization source. By using the cell identifier information, it can be determined whether the device seeking synchronization information is synchronized with that cell or within its coverage area, thereby helping to reduce the latency of obtaining synchronization information. For example, when a first terminal device and a second terminal device synchronize to the same cell, their synchronization information can be obtained through a single interaction, thus improving efficiency and reducing processing latency.

[0094] As mentioned earlier, a synchronization source can obtain synchronization information of the device it is synchronizing with through synchronization estimation. However, due to differences in hardware processing capabilities and the complexity of synchronization algorithms, the synchronization accuracy obtained by the synchronization source varies. For example, due to processor limitations, the synchronization accuracy estimated by the synchronization source can be on the order of the timing advance (TA) sampling interval. When the subcarrier spacing is 15kHz, the distance estimation error corresponding to the TA sampling interval is approximately 80 meters.

[0095] Therefore, the information associated with the synchronization source can also include synchronization accuracy information, which helps determine the magnitude or range of the synchronization error. For example, in a positioning scenario, based on synchronization accuracy information, the magnitude or range of the positioning error can be determined, as well as whether the positioning error meets the usage requirements.

[0096] In some embodiments, the synchronization accuracy information includes a synchronization estimation accuracy unit, which includes one or more of the following: an integer multiple of the sampling interval; nanoseconds (ns); microseconds (µs); and milliseconds (ms).

[0097] However, in some scenarios, the synchronization accuracy of the synchronization source may not meet the requirements, or in other words, may not be as accurate as expected. For example, the positioning error of 80 meters corresponding to a subcarrier spacing of 15kHz may not be sufficient. In such cases, further processing of the positioning results based on the synchronization accuracy information can be performed to obtain higher positioning accuracy.

[0098] In some embodiments, the first device may perform the following operations (including steps 1 to 5 below) to process the positioning results of the third terminal device in order to improve the accuracy of the positioning results, or to obtain higher positioning precision.

[0099] In step 1, the first device divides the first synchronization quantization interval into M equal parts, obtaining M second synchronization quantization intervals, where the first synchronization quantization interval corresponds to the synchronization accuracy of the synchronization source. When the synchronization accuracy of the first terminal device differs from that of the second terminal device, the synchronization quantization interval corresponding to the synchronization accuracy of the first terminal device can be used as the first synchronization quantization interval, or the synchronization quantization interval corresponding to the synchronization accuracy of the second terminal device can be used as the first synchronization quantization interval. In some embodiments, the synchronization quantization interval corresponding to the larger value between the synchronization accuracy of the first terminal device and the synchronization accuracy of the second terminal device can be used as the first synchronization quantization interval, thereby helping to further improve the positioning accuracy.

[0100] In step 2, the assumed synchronization value is determined for each second synchronization quantization interval.

[0101] In step 3, the positioning solution is performed based on the assumed synchronization value to obtain the estimated position coordinates. (j = 1, 2, ..., M).

[0102] In step 4, the estimation error e is calculated according to the following formula. j :

[0103]

[0104] Where N represents the number of terminal devices that send pilot signals to or measure pilot signals sent by the third terminal device, such as the number of anchor terminal devices that participate in the lateral positioning of the third terminal device. This represents the position coordinates of the i-th terminal device that sends or measures the pilot signal sent by the third terminal device, such as the position coordinates of the anchor point terminal device participating in the lateral positioning of the third terminal device; the pilot signal is the pilot signal used for positioning, d j,i e is the measured distance between the target terminal device (such as a third terminal device) and the i-th anchor point terminal device. j This reflects the error between the measured distance and the estimated distance. When the average deviation between the estimated distance and the measured distance for each anchor point terminal device is large, it usually indicates a large deviation in the estimated location. Conversely, when the average deviation between the estimated distance and the measured distance for each anchor point terminal device is small, the error in the estimated location is usually small.

[0105] As mentioned earlier, the first terminal device and the second terminal device are terminal devices that send pilot signals to the third terminal device or measure the pilot signals sent by the third terminal device, so N can be 2. It can be the location coordinates of the first terminal device. It can be the location coordinates of the second terminal device.

[0106]

[0107] As mentioned earlier, the first information may also include time difference information. In some embodiments, the time difference information may include one or more of the following: the synchronization time difference between the first terminal device and the second terminal device; the time difference between the timing of the first terminal device and the timing of the first synchronization source; and the time difference between the timing of the second terminal device and the timing of the second synchronization source. Wherein, the first terminal device synchronizes to the first synchronization source, and the second terminal device synchronizes to the second synchronization source.

[0108] The first synchronization source and the second synchronization source can be the same or different. In some embodiments, the content of the time difference information can differ depending on whether the synchronization sources are the same.

[0109] When the first synchronization source and the second synchronization source are the same, that is, when the first terminal device and the second terminal device synchronize to the same synchronization source, the synchronization source can obtain the synchronization time difference between the first terminal device and the second terminal device. Therefore, in this case, the time difference information can include the synchronization time difference between the first terminal device and the second terminal device to save transmission resources and computational overhead.

[0110] When the first synchronization source and the second synchronization source are different, that is, when the first terminal device and the second terminal device synchronize to different synchronization sources, the first synchronization source can obtain the synchronization information of the first terminal device, but cannot directly obtain the synchronization information of the second terminal device. Similarly, the second synchronization source can obtain the synchronization information of the second terminal device, but cannot directly obtain the synchronization information of the first terminal device.

[0111] However, the first synchronization source can obtain the time difference information (also known as timing offset) between the timing of the first terminal device and the transmission or reception timing of the first synchronization source; the second synchronization source can obtain the time difference information between the timing of the second terminal device and the transmission or reception timing of the second synchronization source.

[0112] Based on this, the time difference information may include the time difference between the timing of the first terminal device and the timing of the first synchronization source; and / or the time difference between the timing of the second terminal device and the timing of the second synchronization source. The synchronization source timing mentioned here may be, for example, the transmission timing of the synchronization source or the reception timing of the synchronization source. In some embodiments, the first device may determine the time difference information between the first terminal device and the second terminal device based on the time difference between the timing of the first terminal device and the timing of the first synchronization source, and the time difference between the timing of the second terminal device and the timing of the second synchronization source.

[0113] In some embodiments, the first information may further include the timing of the first synchronization source and / or the timing of the second synchronization source. For example, if the time difference information includes the time difference between the timing of the first terminal device and the timing of the first synchronization source, and / or the time difference between the timing of the second terminal device and the timing of the second synchronization source, then the first information may further include the timing of the first synchronization source and / or the timing of the second synchronization source. The timing of the synchronization source mentioned herein may be of the same type as the timing of the synchronization source in the time difference information. For example, if the timing of the corresponding synchronization source in the time difference information is a transmission timing, then the timing of the corresponding synchronization source in the first information is also a transmission timing. In this way, even if the time difference information does not include the time difference between the first terminal device and the second terminal device, other devices, such as the first device, can determine the time difference between the first terminal device and the second terminal device based on the first information.

[0114] In some embodiments, the timing of the synchronization source, such as the transmission timing, can be reported relative to a reference time, which can be an absolute time, the time of a specific reference source, or a specified time. For example, the specified time can be specified by a first device.

[0115] In some embodiments, the first information may be reported to the first device by one or more of the following: a first terminal device; a second terminal device; a third terminal device; a first synchronization source; a second synchronization source; a network device corresponding to the first synchronization source; and a network device corresponding to the second synchronization source.

[0116] For example, when the first terminal device and the second terminal device are synchronized to the same synchronization source, the first information can be reported to the first device by the synchronization source.

[0117] For example, when the first terminal device synchronizes to the first synchronization source and the second terminal device synchronizes to the second synchronization source, and the first synchronization source and the second synchronization source are different, some information in the first information, such as information associated with the first terminal device, can be reported from the first synchronization source to the first device; some information in the first information, such as information associated with the second terminal device, can be reported from the second synchronization source to the first device.

[0118] For example, when the first synchronization source is a synchronization reference terminal device that is synchronized to the network device, then some information in the first information can be reported to the first device by the network device corresponding to the first synchronization source; and some information in the first information can be reported to the first device by the network device corresponding to the second synchronization source.

[0119] In some embodiments, the first information may be directly reported to the first device by one or more of the aforementioned devices, or it may be indirectly reported to the first device.

[0120] For example, the time difference information between the timing of the first terminal device and the timing of the first synchronization source can be directly reported to the first device by the first synchronization source, or it can be first reported to the first terminal device by the first synchronization source, and then reported to the first device by the first terminal device. If the first synchronization source is a synchronization reference terminal device synchronized to the base station, the time difference information between the timing of the first terminal device and the timing of the first synchronization source can also be reported by the first synchronization source to its corresponding network device, and then reported to the first device by that network device.

[0121] For example, the first synchronization source and the second synchronization source can report the synchronization information of the first terminal device and / or the synchronization information of the second terminal device to a specific device, such as a specific terminal device, which then reports the first information back to the first device. This specific terminal device can be, for example, the first terminal device or the second terminal device. In some cases, this specific terminal device can also be the target terminal device in lateral positioning, such as the third terminal device mentioned above.

[0122] The reporting of first information can include two methods: proactive reporting and requested reporting. Proactive reporting, as mentioned here, refers to reporting first information even when no request for reporting first information has been received.

[0123] In some embodiments, the reporting method for the first information can be a request reporting method. For example, before the first device receives the first information, the first device can send second information, wherein the second information is used to request target synchronization information. For example, in a lateral positioning scenario, the target synchronization information can refer to one or more of the synchronization information associated with the terminal devices participating in lateral positioning.

[0124] In some embodiments, the second information may include one or more of the following: target synchronization information; device identifier of the device associated with the target synchronization information; and expected synchronization accuracy information corresponding to the target synchronization information. For example, the target synchronization information may include synchronization information of a first terminal device and / or synchronization information of a second terminal device. Alternatively, the second information may include device identifiers of the first terminal device and / or the second terminal device. The target synchronization information and device identifier mentioned herein can serve as the basis for reporting the first information. Alternatively, the second information may include expected synchronization accuracy information corresponding to the target synchronization information. If the target synchronization information includes synchronization information of the first terminal device and / or synchronization information of the second terminal device, then the expected synchronization accuracy information may include the expected synchronization accuracy of the first terminal device's synchronization information and / or the expected synchronization accuracy of the second terminal device's synchronization information. Reporting the first information based on the expected synchronization accuracy helps improve the effectiveness of the positioning results.

[0125] The receiving device for the second information mentioned above can be one or more of the various devices that report the first information. If the first information is reported by the synchronization source of the first terminal device and / or the second terminal device, i.e., the first synchronization source and / or the second synchronization source, then before sending the second information, the first device needs to know the synchronization source and / or the information associated with the synchronization source of the first terminal device and / or the second terminal device. In some embodiments, the first terminal device and / or the second terminal device can report the information associated with the first synchronization source and / or the second synchronization source to the first device when interacting with the first device for positioning assistance information.

[0126] Then, the first device can send second information to the first synchronization source and / or the second synchronization source based on the synchronization source association information to request the transmission of the first information. The synchronization source association information can be referred to the description above, and will not be repeated here for the sake of brevity.

[0127] In some embodiments, the reporting method for the first information can be proactive reporting. For example, the first information can be proactively reported to the first device by the first synchronization source and / or the second synchronization source. Alternatively, the first information can be proactively reported to the first device by the first synchronization source and / or the second synchronization source via the first terminal device and / or the second terminal device. That is, the first synchronization source and / or the second synchronization source can first report the first information to the first terminal device and / or the second terminal device, and then the first terminal device and / or the second terminal device can proactively report it to the first device.

[0128] In some embodiments, in response to the first synchronization source and / or the second synchronization source obtaining synchronization information from the first terminal device and / or the second terminal device, the first synchronization source and / or the second synchronization source may report first information. To conserve transmission resources, the first synchronization source and / or the second synchronization source may periodically report the first information. The reporting period may be based on usage requirements, such as a determined positioning frequency; this application does not limit this. In this way, synchronization information from the first terminal device and / or the second terminal device can be obtained in a timely manner, thereby helping to reduce positioning latency.

[0129] In some embodiments, in response to receiving a notification that a third terminal device is about to perform location tracking, or receiving a notification that a first terminal device and / or a second terminal device is about to participate in location tracking, the first synchronization source and / or the second synchronization source may report first information. To ensure the real-time nature and effectiveness of the synchronization information, in response to receiving the aforementioned notification, the first synchronization source and / or the second synchronization source may perform a synchronization estimate for the first terminal device and / or the second terminal device, and then report the first information based on the synchronization estimate result. This notification information may be sent by the third terminal device, or it may be sent by the first terminal device and / or the second terminal device.

[0130] The notification information may include, for example, the identifiers of the participating terminal devices. As an example, the notification information may include the identifiers of the anchor terminal device and / or the target terminal device. Furthermore, the notification message may include the location time of the target terminal device, so that the first synchronization source and / or the second synchronization source can determine the timing of reporting the first information. Also, the notification message may include the accuracy requirement information of the target terminal device, such as synchronization accuracy requirements and / or the accuracy requirements of the positioning results. The synchronization accuracy requirement can be calculated based on the accuracy requirements of the positioning results. In this way, when a synchronization source can achieve multiple synchronization accuracies, the synchronization accuracy adopted by the synchronization source can be determined based on the accuracy requirement information of the target terminal device.

[0131] If the method of actively reporting the first information is adopted, the target terminal device, such as the third terminal device, can report the first information to the first device during the positioning configuration process, such as reporting the first information to the first device in the auxiliary data information, thereby further reducing the positioning latency.

[0132] It should be noted that the method provided in this application embodiment can be applied to obtaining synchronization information between anchor point terminal devices participating in lateral positioning, and can also be applied to obtaining synchronization information between anchor point terminal devices participating in lateral positioning and target terminal devices. That is to say, the first terminal device and the second terminal device can also be the anchor point terminal device and the target terminal device participating in lateral positioning, respectively.

[0133] The above text combined Figures 1 to 11 The method embodiments of this application are described in detail below, in conjunction with... Figures 12 to 15 The present application provides a detailed description of the apparatus embodiments. It should be understood that the descriptions of the method embodiments correspond to the descriptions of the apparatus embodiments; therefore, any parts not described in detail can be found in the foregoing method embodiments.

[0134] Figure 12 This is a schematic diagram of the structure of a communication device provided in one embodiment of this application. Figure 12 The communication device 1200 may be the first device mentioned above. The communication device 1200 may include a receiving unit 1210 and a positioning unit 1220.

[0135] The receiving unit 1210 is used to receive first information, which is used to indicate the synchronization information of the first terminal device and / or the synchronization information of the second terminal device.

[0136] The positioning unit 1220 is used to locate the third terminal device based on the first information.

[0137] In some embodiments, the first information includes one or more of the following: information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; and round-trip time delay between the first terminal device and the second terminal device.

[0138] In some embodiments, the information associated with the synchronization source includes one or more of the following: the type of the synchronization source; the coverage area of ​​the synchronization source; the synchronization connection status of the synchronization source; the cell identifier information corresponding to the synchronization source; and the synchronization accuracy information of the synchronization source.

[0139] In some embodiments, the synchronization accuracy information includes a synchronization estimation accuracy unit, which includes one or more of the following: an integer multiple of the sampling interval; nanoseconds (ns); microseconds (µs); and milliseconds (ms).

[0140] In some embodiments, the first device locates the third terminal device based on the first information, including: if the synchronization accuracy does not meet a preset requirement, the first device performs the following operations to locate the third terminal device: the first device divides the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, wherein the first synchronization quantization interval corresponds to the synchronization accuracy; determines a hypothetical synchronization value for each second synchronization quantization interval; and performs a positioning calculation based on the hypothetical synchronization value to obtain the estimated position coordinates. (j = 1, 2, ..., M); calculate the estimation error e according to the following formula. j :

[0141]

[0142] Estimation error e j The location coordinates corresponding to the minimum value of j are the positioning results, where j is the minimum value of j. When, the estimation error e j The value of is the minimum; where N is the number of terminal devices that send pilot signals to the third terminal device or measure the pilot signals sent by the third terminal device. d represents the position coordinates of the i-th terminal device that sends a pilot signal to or measures the pilot signal sent by the third terminal device. j，i The distance between the location of the third terminal device and the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device is the measurement result, wherein the pilot signal is a pilot signal used for positioning.

[0143] In some embodiments, the time difference information includes one or more of the following: the synchronization time difference between the first terminal device and the second terminal device; the time difference between the timing of the first terminal device and the timing of the first synchronization source; and the time difference between the timing of the second terminal device and the timing of the second synchronization source; wherein the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0144] In some embodiments, the first synchronization source is the same as the second synchronization source.

[0145] In some embodiments, the first information may further include the timing of the first synchronization source and / or the timing of the second synchronization source.

[0146] In some embodiments, the first information is reported to the first device by one or more of the following: the first terminal device; the second terminal device; the first synchronization source; the second synchronization source; the network device corresponding to the first synchronization source; and the network device corresponding to the second synchronization source; wherein the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0147] In some embodiments, the first information is actively reported to the first device by the first synchronization source and / or the second synchronization source; and / or the first information is actively reported to the first device by the first synchronization source and / or the second synchronization source via the first terminal device and / or the second terminal device.

[0148] In some embodiments, before the first device receives the first information, the device further includes: a sending unit, configured to send second information, the second information being used to request target synchronization information, the target synchronization information including synchronization information of the first terminal device and / or synchronization information of the second terminal device.

[0149] In some embodiments, the second information includes one or more of the following: the target synchronization information; the device identifier of the device associated with the target synchronization information; and the expected synchronization accuracy information corresponding to the target synchronization information.

[0150] In some embodiments, the first terminal device and the second terminal device are both reference terminal devices participating in lateral positioning; the third terminal device is the target terminal device participating in lateral positioning.

[0151] In some embodiments, the first device is a positioning server.

[0152] Figure 13 This is a schematic diagram of the structure of a communication device provided in another embodiment of this application. Figure 13 The communication device 1300 can be the first terminal device mentioned above.

[0153] The communication device 1300 may include a first transmitting unit 1310, which is used to transmit first information to a first device. The first information is used to indicate the synchronization information of the first terminal device and / or the synchronization information of the second terminal device. The first information is used by the first device to locate the third terminal device.

[0154] In some embodiments, the device further includes: a communication unit, configured to send a pilot signal to a third terminal device and / or receive a pilot signal sent by the third terminal device, wherein the pilot signal is a signal for lateral positioning.

[0155] In some embodiments, the first information includes one or more of the following: information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; and round-trip time delay between the first terminal device and the second terminal device.

[0156] In some embodiments, the information associated with the synchronization source includes one or more of the following: the type of the synchronization source; the coverage area of ​​the synchronization source; the synchronization connection status of the synchronization source; the cell identifier information corresponding to the synchronization source; and the synchronization accuracy information of the synchronization source.

[0157] In some embodiments, the synchronization accuracy information includes a synchronization estimation accuracy unit, which includes one or more of the following: an integer multiple of the sampling interval; nanoseconds (ns); microseconds (µs); and milliseconds (ms).

[0158] In some embodiments, the time difference information includes one or more of the following: the synchronization time difference between the first terminal device and the second terminal device; the time difference between the timing of the first terminal device and the timing of the first synchronization source; and the time difference between the timing of the second terminal device and the timing of the second synchronization source; wherein the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0159] In some embodiments, the first synchronization source is the same as the second synchronization source.

[0160] In some embodiments, the first information may further include the timing of the first synchronization source and / or the timing of the second synchronization source.

[0161] In some embodiments, the first terminal device sending first information to the first device includes: the first terminal device receiving the first information sent by a first synchronization source and / or a second synchronization source; the first terminal device sending the first information to the first device; wherein the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0162] In some embodiments, before the first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source, the device further includes: a second sending unit, configured to send third information, the third information being used to notify the first synchronization source and / or the second synchronization source to report the first information.

[0163] In some embodiments, before the first terminal device sends the first information to the first device, the device further includes: a receiving unit, configured to receive second information sent by the first device, the second information being used to request target synchronization information, the target synchronization information including synchronization information of the first terminal device and / or synchronization information of the second terminal device.

[0164] In some embodiments, the second information includes one or more of the following: the target synchronization information; the device identifier of the device associated with the target synchronization information; and the expected synchronization accuracy information corresponding to the target synchronization information.

[0165] In some embodiments, the first terminal device and the second terminal device are both reference terminal devices participating in lateral positioning; and the third terminal device is a target terminal device participating in lateral positioning.

[0166] In some embodiments, the first device is a positioning server.

[0167] Figure 14 This is a schematic diagram of the structure of a communication device provided in another embodiment of this application. Figure 14 The communication device 1400 can be the second terminal device mentioned above.

[0168] The communication device 1400 may include a transmitting unit 1410 for transmitting first information to a first device. The first information is used to indicate the synchronization information of the first terminal device and / or the synchronization information of the second terminal device. The first information is used by the first device to locate the third terminal device.

[0169] In some embodiments, the device further includes: a communication unit, configured to send a pilot signal to a third terminal device and / or receive a pilot signal sent by the third terminal device, wherein the pilot signal is a signal for lateral positioning.

[0170] In some embodiments, the first information includes one or more of the following: information associated with the synchronization source of the first terminal device and / or the second terminal device; time difference information associated with the first terminal device and / or the second terminal device; and round-trip time delay between the first terminal device and the second terminal device.

[0171] In some embodiments, the information associated with the synchronization source includes one or more of the following: the type of the synchronization source; the coverage area of ​​the synchronization source; the synchronization connection status of the synchronization source; the cell identifier information corresponding to the synchronization source; and the synchronization accuracy information of the synchronization source.

[0172] In some embodiments, the synchronization accuracy information includes a synchronization estimation accuracy unit, which includes one or more of the following: an integer multiple of the sampling interval; nanoseconds (ns); microseconds (µs); and milliseconds (ms).

[0173] In some embodiments, the time difference information includes one or more of the following: the synchronization time difference between the first terminal device and the second terminal device; the time difference between the timing of the first terminal device and the timing of the first synchronization source; and the time difference between the timing of the second terminal device and the timing of the second synchronization source; wherein the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0174] In some embodiments, the first synchronization source is the same as the second synchronization source.

[0175] In some embodiments, the first information may further include the timing of the first synchronization source and / or the timing of the second synchronization source.

[0176] In some embodiments, the second terminal device sending first information to the first device includes: the second terminal device receiving the first information sent by a first synchronization source and / or a second synchronization source; the second terminal device sending the first information to the first device; wherein the first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

[0177] In some embodiments, before the second terminal device sends the first information to the first device, the device further includes: a receiving unit, configured to receive second information sent by the first device, the second information being used to request target synchronization information, the target synchronization information including synchronization information of the first terminal device and / or synchronization information of the second terminal device.

[0178] In some embodiments, the second information includes one or more of the following: the target synchronization information; the device identifier of the device associated with the target synchronization information; and the expected synchronization accuracy information corresponding to the target synchronization information.

[0179] In some embodiments, the first terminal device and the second terminal device are both reference terminal devices participating in lateral positioning; and the third terminal device is a target terminal device participating in lateral positioning.

[0180] In some embodiments, the first device is a positioning server.

[0181] Figure 15 This is a schematic structural diagram of the device according to an embodiment of this application. Figure 15The dashed lines indicate that the unit or module is optional. The device 1500 can be used to implement the methods described in the above method embodiments. The device 1500 can be a chip or a terminal device.

[0182] Apparatus 1500 may include one or more processors 1510. The processor 1510 may support apparatus 1500 in implementing the methods described in the preceding method embodiments. The processor 1510 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0183] The apparatus 1500 may further include one or more memories 1520. The memories 1520 store a program that can be executed by the processor 1510, causing the processor 1510 to perform the methods described in the preceding method embodiments. The memories 1520 may be independent of the processor 1510 or integrated into the processor 1510.

[0184] The device 1500 may also include a transceiver 1530. The processor 1510 can communicate with other devices or chips via the transceiver 1530. For example, the processor 1510 can send and receive data with other devices or chips via the transceiver 1530.

[0185] This application also provides a computer-readable storage medium for storing a program. This computer-readable storage medium can be applied to the communication device provided in this application, and the program causes a computer to execute the methods performed by the communication device in various embodiments of this application.

[0186] This application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to the communication device provided in this application embodiment, and the program causes a computer to execute the methods performed by the communication device in various embodiments of this application.

[0187] This application also provides a computer program. This computer program can be applied to the communication device provided in this application, and causes the computer to execute the methods performed by the communication device in various embodiments of this application.

[0188] It should be understood that the terms "system" and "network" in this application can be used interchangeably. Furthermore, the terminology used in this application is only for explaining specific embodiments of the application and is not intended to limit the application. The terms "first," "second," "third," and "fourth," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. In addition, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0189] In the embodiments of this application, the term "instruction" can be a direct instruction, an indirect instruction, or an indication of a relationship. For example, A instructing B can mean that A directly instructs B, such as B being able to obtain information through A; it can also mean that A indirectly instructs B, such as A instructing C, so B can obtain information through C; or it can mean that there is a relationship between A and B.

[0190] In the embodiments of this application, "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0191] In the embodiments of this application, the term "correspondence" can indicate a direct or indirect correspondence between two things, or an association between two things, or a relationship such as instruction and being instructed, configuration and being configured.

[0192] In this application embodiment, "predefined" or "preconfigured" can be implemented by pre-storing corresponding codes, tables, or other means that can be used to indicate relevant information in the device (e.g., including terminal devices and network devices). This application does not limit the specific implementation method. For example, predefined can refer to what is defined in the protocol.

[0193] In this application embodiment, the "protocol" may refer to a standard protocol in the field of communication, such as the LTE protocol, the NR protocol, and related protocols applied to future communication systems. This application does not limit this.

[0194] In the embodiments of this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0195] In the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0196] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0197] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0198] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0199] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can read or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs, DVDs) or semiconductor media (e.g., solid-state disks, SSDs), etc.

[0200] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for sidelink communication, the method comprising: include: The first device receives first information, which is used to indicate the synchronization information of the first terminal device and / or the synchronization information of the second terminal device; wherein, the first information includes information associated with the synchronization source of the first terminal device and / or the second terminal device, and the information associated with the synchronization source includes the synchronization accuracy information of the synchronization source; The first information is used by the first device to locate the third terminal device based on the first information and the propagation delay and / or angle information of the pilot signal transmitted between the first terminal device, the second terminal device, and the third terminal device; If the synchronization accuracy does not meet the preset requirements, the first device performs the following operations to locate the third terminal device: the first device divides the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, wherein the first synchronization quantization interval corresponds to the synchronization accuracy; determines the assumed synchronization value on each second synchronization quantization interval; and performs positioning calculation based on the assumed synchronization value to obtain the estimated position coordinates. , (j=1,2,……,M); calculate the estimation error estimation error The location coordinates corresponding to the minimum value are the positioning results.

2. The method of claim 1, wherein, The first information also includes one or more of the following: Time difference information associated with the first terminal device and / or the second terminal device; and Round-trip time between the first terminal device and the second terminal device.

3. The method of claim 1, wherein, The synchronization accuracy information includes the accuracy unit of the synchronization estimate, and the accuracy unit of the synchronization estimate includes one or more of the following: Integer multiples of the sampling interval; nanoseconds (ns); microseconds (µs); and Milliseconds (ms).

4. The method according to claim 1, characterized in that, The calculation of the estimation error includes: The estimation error is calculated using the following formula. : ； Wherein, N represents the number of terminal devices that send pilot signals to the third terminal device or measure the pilot signals sent by the third terminal device. This represents the position coordinates of the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device. The distance between the location of the third terminal device and the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device is the measurement result, wherein the pilot signal is a pilot signal used for positioning.

5. The method according to claim 2, characterized in that, The time difference information includes one or more of the following: The synchronization time difference between the first terminal device and the second terminal device; The time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as The time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

6. The method according to claim 5, characterized in that, The first synchronization source is the same as the second synchronization source.

7. The method according to claim 5, characterized in that, The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

8. The method according to any one of claims 1-4, characterized in that, The first information is reported to the first device by one or more of the following: The first terminal device; The second terminal device; First synchronization source; Second synchronization source; The network device corresponding to the first synchronization source; and The network device corresponding to the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

9. The method according to claim 8, characterized in that, The first information is actively reported to the first device by the first synchronization source and / or the second synchronization source; and / or The first information is actively reported to the first device by the first synchronization source and / or the second synchronization source through the first terminal device and / or the second terminal device.

10. The method according to claim 8, characterized in that, Before the first device receives the first information, the method further includes: The first device sends a second message, which is used to request target synchronization information, including the synchronization information of the first terminal device and / or the synchronization information of the second terminal device.

11. The method according to claim 10, characterized in that, The second information includes one or more of the following: The target synchronization information; The device identifier of the device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

12. The method according to any one of claims 1-4, characterized in that, Both the first terminal device and the second terminal device are reference terminal devices participating in lateral positioning; The third terminal device is the target terminal device that participates in lateral positioning.

13. The method according to any one of claims 1-4, characterized in that, The first device is a positioning server.

14. A method for side-to-side communication, characterized in that, include: A first terminal device sends first information to a second terminal device, the first information being used to indicate the synchronization information of the first terminal device and / or the synchronization information of the second terminal device; wherein, the first information includes information associated with the synchronization source of the first terminal device and / or the second terminal device, the information associated with the synchronization source including the synchronization accuracy information of the synchronization source; The first information is used by the first device to locate the third terminal device based on the first information and the propagation delay and / or angle information of the pilot signal transmitted between the first terminal device, the second terminal device, and the third terminal device; If the synchronization accuracy does not meet the preset requirements, the first device performs the following operations to locate the third terminal device: the first device divides the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, wherein the first synchronization quantization interval corresponds to the synchronization accuracy; determines the assumed synchronization value on each second synchronization quantization interval; and performs positioning calculation based on the assumed synchronization value to obtain the estimated position coordinates. , (j=1,2,……,M); calculate the estimation error estimation error The location coordinates corresponding to the minimum value are the positioning results.

15. The method according to claim 14, characterized in that, The method further includes: The first terminal device sends a pilot signal to the third terminal device, and / or the first terminal device receives a pilot signal sent by the third terminal device, wherein the pilot signal is a signal used for lateral positioning.

16. The method according to claim 14 or 15, characterized in that, The first information also includes one or more of the following: Time difference information associated with the first terminal device and / or the second terminal device; and Round-trip time between the first terminal device and the second terminal device.

17. The method according to claim 14, characterized in that, The synchronization accuracy information includes the accuracy unit of the synchronization estimate, and the accuracy unit of the synchronization estimate includes one or more of the following: Integer multiples of the sampling interval; nanoseconds (ns); microseconds (µs); and Milliseconds (ms).

18. The method according to claim 16, characterized in that, The time difference information includes one or more of the following: The synchronization time difference between the first terminal device and the second terminal device; The time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as The time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

19. The method according to claim 18, characterized in that, The first synchronization source is the same as the second synchronization source.

20. The method according to claim 18 or 19, characterized in that, The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

21. The method according to claim 14 or 15, characterized in that, The first terminal device sends first information to the first device, including: The first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source; The first terminal device sends the first information to the first device; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

22. The method according to claim 21, characterized in that, Before the first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source, the method further includes: The first terminal device sends third information, which is used to notify the first synchronization source and / or the second synchronization source to report the first information.

23. The method according to claim 21, characterized in that, Before the first terminal device sends the first information to the first device, the method further includes: The first terminal device receives second information sent by the first device, the second information being used to request target synchronization information, the target synchronization information including the synchronization information of the first terminal device and / or the synchronization information of the second terminal device.

24. The method according to claim 23, characterized in that, The second information includes one or more of the following: The target synchronization information; The device identifier of the device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

25. The method according to claim 14 or 15, characterized in that, The first terminal device and the second terminal device are both reference terminal devices participating in lateral positioning; and the third terminal device is the target terminal device participating in lateral positioning.

26. The method according to claim 14 or 15, characterized in that, The first device is a positioning server.

27. A method for side-to-side communication, characterized in that, include: The second terminal device sends first information to the first device. The first information is used to indicate the synchronization information of the first terminal device and / or the synchronization information of the second terminal device. The first information includes information associated with the synchronization source of the first terminal device and / or the second terminal device, and the information associated with the synchronization source includes the synchronization accuracy information of the synchronization source. The first information is used by the first device to locate the third terminal device based on the first information and the propagation delay and / or angle information of the pilot signal transmitted between the first terminal device, the second terminal device, and the third terminal device; If the synchronization accuracy does not meet the preset requirements, the first device performs the following operations to locate the third terminal device: the first device divides the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, wherein the first synchronization quantization interval corresponds to the synchronization accuracy; determines the assumed synchronization value on each second synchronization quantization interval; and performs positioning calculation based on the assumed synchronization value to obtain the estimated position coordinates. , (j=1,2,……,M); calculate the estimation error estimation error The location coordinates corresponding to the minimum value are the positioning results.

28. The method according to claim 27, characterized in that, The method further includes: The second terminal device sends a pilot signal to the third terminal device, and / or the second terminal device receives a pilot signal sent by the third terminal device, wherein the pilot signal is a signal used for lateral positioning.

29. The method according to claim 27 or 28, characterized in that, The first information also includes one or more of the following: Time difference information associated with the first terminal device and / or the second terminal device; and Round-trip time between the first terminal device and the second terminal device.

30. The method according to claim 27, characterized in that, The synchronization accuracy information includes the accuracy unit of the synchronization estimate, and the accuracy unit of the synchronization estimate includes one or more of the following: Integer multiples of the sampling interval; nanosecond (ns); microseconds (µs); and Milliseconds (ms).

31. The method according to claim 29, characterized in that, The time difference information includes one or more of the following: The synchronization time difference between the first terminal device and the second terminal device; The time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as The time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

32. The method according to claim 31, characterized in that, The first synchronization source is the same as the second synchronization source.

33. The method according to claim 31 or 32, characterized in that, The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

34. The method according to claim 27 or 28, characterized in that, The second terminal device sends first information to the first device, including: The second terminal device receives the first information sent by the first synchronization source and / or the second synchronization source; The second terminal device sends the first information to the first device; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

35. The method according to claim 27 or 28, characterized in that, Before the second terminal device sends the first information to the first device, the method further includes: The second terminal device receives second information sent by the first device. The second information is used to request target synchronization information, which includes the synchronization information of the first terminal device and / or the synchronization information of the second terminal device.

36. The method according to claim 35, characterized in that, The second information includes one or more of the following: The target synchronization information; The device identifier of the device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

37. The method according to claim 27 or 28, characterized in that, The first terminal device and the second terminal device are both reference terminal devices participating in lateral positioning; and the third terminal device is the target terminal device participating in lateral positioning.

38. The method according to claim 27 or 28, characterized in that, The first device is a positioning server.

39. A communication device, characterized in that, The communication device is a first device, and the device includes: A receiving unit is configured to receive first information, the first information being used to indicate synchronization information of a first terminal device and / or synchronization information of a second terminal device; wherein, the first information includes information associated with the synchronization source of the first terminal device and / or the second terminal device, the information associated with the synchronization source including synchronization accuracy information of the synchronization source; The acquisition unit is used to acquire the propagation delay and / or angle information of the pilot signal transmitted between the first terminal device, the second terminal device and the third terminal device; The positioning unit is configured to perform the following operations to locate the third terminal device if the synchronization accuracy does not meet the preset requirements: dividing the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, wherein the first synchronization quantization interval corresponds to the synchronization accuracy; determining the assumed synchronization value on each second synchronization quantization interval; and performing positioning calculations based on the assumed synchronization values ​​to obtain the estimated position coordinates. , (j=1,2,……,M); calculate the estimation error estimation error The location coordinates corresponding to the minimum value are the positioning results.

40. The device according to claim 39, characterized in that, The first information also includes one or more of the following: Time difference information associated with the first terminal device and / or the second terminal device; and Round-trip time between the first terminal device and the second terminal device.

41. The device according to claim 39, characterized in that, The synchronization accuracy information includes the accuracy unit of the synchronization estimate, and the accuracy unit of the synchronization estimate includes one or more of the following: Integer multiples of the sampling interval; nanosecond (ns); microseconds (µs); and Milliseconds (ms).

42. The device according to claim 39, characterized in that, The calculation of the estimation error includes: The estimation error is calculated using the following formula. : ； Wherein, N represents the number of terminal devices that send pilot signals to the third terminal device or measure the pilot signals sent by the third terminal device. This represents the position coordinates of the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device. The distance between the location of the third terminal device and the i-th terminal device that sends a pilot signal to the third terminal device or measures the pilot signal sent by the third terminal device is the measurement result, wherein the pilot signal is a pilot signal used for positioning.

43. The device according to claim 40, characterized in that, The time difference information includes one or more of the following: The synchronization time difference between the first terminal device and the second terminal device; The time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as The time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

44. The device according to claim 43, characterized in that, The first synchronization source is the same as the second synchronization source.

45. The device according to claim 43, characterized in that, The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

46. ​​The device according to any one of claims 39-42, characterized in that, The first information is reported to the first device by one or more of the following: The first terminal device; The second terminal device; First synchronization source; Second synchronization source; The network device corresponding to the first synchronization source; and The network device corresponding to the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

47. The device according to claim 46, characterized in that, The first information is actively reported to the first device by the first synchronization source and / or the second synchronization source; and / or The first information is actively reported to the first device by the first synchronization source and / or the second synchronization source through the first terminal device and / or the second terminal device.

48. The device according to claim 46, characterized in that, Before the first device receives the first information, the device further includes: A sending unit is configured to send second information, the second information being used to request target synchronization information, the target synchronization information including synchronization information of the first terminal device and / or synchronization information of the second terminal device.

49. The device according to claim 48, characterized in that, The second information includes one or more of the following: The target synchronization information; The device identifier of the device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

50. The device according to any one of claims 39-42, characterized in that, Both the first terminal device and the second terminal device are reference terminal devices participating in lateral positioning; The third terminal device is the target terminal device that participates in lateral positioning.

51. The device according to any one of claims 39-42, characterized in that, The first device is a positioning server.

52. A communication device, characterized in that, The communication device is a first terminal device, and the device includes: A first sending unit is configured to send first information to a first device, the first information being used to indicate synchronization information of the first terminal device and / or synchronization information of a second terminal device; wherein, the first information includes information associated with the synchronization source of the first terminal device and / or the second terminal device, the information associated with the synchronization source including synchronization accuracy information of the synchronization source; The first information is used by the first device to locate the third terminal device based on the first information and the propagation delay and / or angle information of the pilot signal transmitted between the first terminal device, the second terminal device, and the third terminal device; If the synchronization accuracy does not meet the preset requirements, the first device performs the following operations to locate the third terminal device: the first device divides the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, wherein the first synchronization quantization interval corresponds to the synchronization accuracy; determines the assumed synchronization value on each second synchronization quantization interval; and performs positioning calculation based on the assumed synchronization value to obtain the estimated position coordinates. , (j=1,2,……,M); calculate the estimation error estimation error The location coordinates corresponding to the minimum value are the positioning results.

53. The device according to claim 52, characterized in that, The device also includes: A communication unit is configured to send pilot signals to the third terminal device and / or receive pilot signals sent by the third terminal device, wherein the pilot signals are signals used for lateral positioning.

54. The device according to claim 52 or 53, characterized in that, The first information also includes one or more of the following: Time difference information associated with the first terminal device and / or the second terminal device; and Round-trip time between the first terminal device and the second terminal device.

55. The device according to claim 52, characterized in that, The synchronization accuracy information includes the accuracy unit of the synchronization estimate, and the accuracy unit of the synchronization estimate includes one or more of the following: Integer multiples of the sampling interval; nanosecond (ns); microseconds (µs); and Milliseconds (ms).

56. The device according to claim 54, characterized in that, The time difference information includes one or more of the following: The synchronization time difference between the first terminal device and the second terminal device; The time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as The time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

57. The device according to claim 56, characterized in that, The first synchronization source is the same as the second synchronization source.

58. The device according to claim 56 or 57, characterized in that, The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

59. The device according to claim 52 or 53, characterized in that, The first terminal device sends first information to the first device, including: The first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source; The first terminal device sends the first information to the first device; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

60. The device according to claim 59, characterized in that, Before the first terminal device receives the first information sent by the first synchronization source and / or the second synchronization source, the device further includes: The second sending unit is used to send third information, which is used to notify the first synchronization source and / or the second synchronization source to report the first information.

61. The device according to claim 59, characterized in that, Before the first terminal device sends the first information to the first device, the device further includes: A receiving unit is configured to receive second information sent by the first device, the second information being used to request target synchronization information, the target synchronization information including synchronization information of the first terminal device and / or synchronization information of the second terminal device.

62. The device according to claim 61, characterized in that, The second information includes one or more of the following: The target synchronization information; The device identifier of the device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

63. The device according to claim 52 or 53, characterized in that, The first terminal device and the second terminal device are both reference terminal devices participating in lateral positioning; and the third terminal device is the target terminal device participating in lateral positioning.

64. The device according to claim 52 or 53, characterized in that, The first device is a positioning server.

65. A communication device, characterized in that, The communication device is a second terminal device, and the device includes: A sending unit is configured to send first information to a first device, the first information being used to indicate synchronization information of a first terminal device and / or synchronization information of a second terminal device; wherein, the first information includes information associated with the synchronization source of the first terminal device and / or the second terminal device, the information associated with the synchronization source including synchronization accuracy information of the synchronization source; The first information is used by the first device to locate the third terminal device based on the first information and the propagation delay and / or angle information of the pilot signal transmitted between the first terminal device, the second terminal device, and the third terminal device; If the synchronization accuracy does not meet the preset requirements, the first device performs the following operations to locate the third terminal device: the first device divides the first synchronization quantization interval into M equal parts to obtain M second synchronization quantization intervals, wherein the first synchronization quantization interval corresponds to the synchronization accuracy; determines the assumed synchronization value on each second synchronization quantization interval; and performs positioning calculation based on the assumed synchronization value to obtain the estimated position coordinates. , (j=1,2,……,M); calculate the estimation error estimation error The location coordinates corresponding to the minimum value are the positioning results.

66. The device according to claim 65, characterized in that, The device also includes: A communication unit is configured to send pilot signals to the third terminal device and / or receive pilot signals sent by the third terminal device, wherein the pilot signals are signals used for lateral positioning.

67. The device according to claim 65 or 66, characterized in that, The first information also includes one or more of the following: Time difference information associated with the first terminal device and / or the second terminal device; and Round-trip time between the first terminal device and the second terminal device.

68. The device according to claim 65, characterized in that, The synchronization accuracy information includes the accuracy unit of the synchronization estimate, and the accuracy unit of the synchronization estimate includes one or more of the following: Integer multiples of the sampling interval; nanosecond (ns); microseconds (µs); and Milliseconds (ms).

69. The device according to claim 67, characterized in that, The time difference information includes one or more of the following: The synchronization time difference between the first terminal device and the second terminal device; The time difference between the timing of the first terminal device and the timing of the first synchronization source; as well as The time difference between the timing of the second terminal device and the timing of the second synchronization source; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

70. The device according to claim 69, characterized in that, The first synchronization source is the same as the second synchronization source.

71. The device according to claim 69 or 70, characterized in that, The first information also includes the timing of the first synchronization source and / or the timing of the second synchronization source.

72. The device according to claim 65 or 66, characterized in that, The second terminal device sends first information to the first device, including: The second terminal device receives the first information sent by the first synchronization source and / or the second synchronization source; The second terminal device sends the first information to the first device; The first terminal device is synchronized to the first synchronization source, and the second terminal device is synchronized to the second synchronization source.

73. The device according to claim 65 or 66, characterized in that, Before the second terminal device sends the first information to the first device, the device further includes: A receiving unit is configured to receive second information sent by the first device, the second information being used to request target synchronization information, the target synchronization information including synchronization information of the first terminal device and / or synchronization information of the second terminal device.

74. The device according to claim 73, characterized in that, The second information includes one or more of the following: The target synchronization information; The device identifier of the device associated with the target synchronization information; and The target synchronization information corresponds to the expected synchronization accuracy information.

75. The device according to claim 65 or 66, characterized in that, The first terminal device and the second terminal device are both reference terminal devices participating in lateral positioning; and the third terminal device is the target terminal device participating in lateral positioning.

76. The device according to claim 65 or 66, characterized in that, The first device is a positioning server.

77. A communication device, characterized in that, The device includes a transceiver, a memory, and a processor. The memory stores a program, and the processor invokes the program in the memory and controls the transceiver to receive or transmit signals so that the communication device performs the method as claimed in any one of claims 1-13, or any one of claims 14-26, or any one of claims 27-38.

78. An apparatus, characterized in that, Includes a processor for calling a program from memory to cause the device to perform the method as claimed in any one of claims 1-13, or any one of claims 14-26, or any one of claims 27-38.

79. A chip, characterized in that, Includes a processor for calling a program from memory, causing a device having the chip mounted to perform the method as claimed in any one of claims 1-13, or any one of claims 14-26, or any one of claims 27-38.

80. A computer-readable storage medium, characterized in that, It contains a program that causes a computer to perform the method as claimed in any one of claims 1-13, or any one of claims 14-26, or any one of claims 27-38.

81. A computer program product, characterized in that, Includes a program that causes a computer to perform the method as claimed in any one of claims 1-13, or any one of claims 14-26, or any one of claims 27-38.

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