Method and device for sidewalk positioning, terminal equipment and network equipment

Abstract

The invention provides a method and a device for sidewalk positioning, terminal equipment and network equipment. The method comprises the following steps: a first terminal device sends a first message to a network device, wherein the first message comprises first positioning configuration information for sidewalk positioning; wherein the first terminal device is one of a plurality of terminal devices participating in sidewalk positioning, the first terminal device is located in a network coverage range, and a part of or all of the terminal devices except the first terminal device in the plurality of terminal devices are located outside the network coverage range. When side positioning is carried out in a scene of partial network coverage, first terminal equipment in the network coverage sends first positioning configuration information to network equipment, so that the network equipment judges whether the first positioning configuration information needs to be updated or not; configuration conflicts caused to other terminal devices by using the first positioning configuration information to execute side positioning subsequently can be reduced or avoided.

Description

Method, device, terminal equipment and network equipment for side-by-side positioning Technical Field

[0001] The present application relates to the field of communication technology, and more specifically, to a method, apparatus, terminal equipment, and network equipment for side-by-side positioning. Background Art

[0002] In the sideline communication scenario, the location information of the target terminal device can be determined based on the measurement of the sideline positioning reference signal between the target terminal device and the anchor terminal device to achieve sideline positioning.

[0003] When performing sidetrack positioning in a partial network coverage scenario, the anchor terminal device and the target terminal device are partially within the network coverage area and partially outside the network coverage area. In this case, if the sidetrack positioning reference signal configuration used by the anchor terminal device and the target terminal device is not controlled by the network side, it may cause a sidetrack positioning reference signal configuration conflict for other nearby terminal devices.

[0004] Summary of the Invention

[0005] The present application provides a method, apparatus, terminal device, and network device for sideways positioning. The following introduces various aspects of the present application.

[0006] In a first aspect, a method for side-tracking positioning is provided, comprising: a first terminal device sends a first message to a network device, the first message including first positioning configuration information for side-tracking positioning; wherein, the first terminal device is one of multiple terminal devices participating in the side-tracking positioning, and the first terminal device is located within the network coverage, and some or all of the multiple terminal devices except the first terminal device are located outside the network coverage.

[0007] According to a second aspect, a method for side-tracking positioning is provided, comprising: a network device receives a first message sent by a first terminal device, the first message including first positioning configuration information for side-tracking positioning; wherein, the first terminal device is one of a plurality of terminal devices participating in the side-tracking positioning, and the first terminal device is located within the network coverage, and some or all of the plurality of terminal devices except the first terminal device are located outside the network coverage.

[0008] According to a third aspect, a device for side positioning is provided, which is configured on a first terminal device, and includes: a first sending unit, configured to send a first message to a network device, the first message including first positioning configuration information for side positioning; wherein, the first terminal device is one of multiple terminal devices participating in the side positioning, and the first terminal device is located within the network coverage, and some or all of the multiple terminal devices except the first terminal device are located outside the network coverage.

[0009] In a fourth aspect, a device for side positioning is provided, which is configured in a network device, and the device includes: a first receiving unit, used to receive a first message sent by a first terminal device, the first message including first positioning configuration information for side positioning; wherein, the first terminal device is one of multiple terminal devices participating in the side positioning, and the first terminal device is located within the network coverage, and some or all of the multiple terminal devices except the first terminal device are located outside the network coverage.

[0010] In a fifth aspect, a terminal device is provided, comprising a processor, a memory, and a communication interface, wherein the memory is used to store one or more computer programs, and the processor is used to call the computer program in the memory so that the terminal device executes part or all of the steps in the method of the first aspect.

[0011] In the sixth aspect, a network device is provided, comprising a processor, a memory, and a communication interface, wherein the memory is used to store one or more computer programs, and the processor is used to call the computer program in the memory so that the network device executes part or all of the steps in the method of the second aspect.

[0012] In a seventh aspect, an embodiment of the present application provides a communication system, which includes the above-mentioned terminal device and / or network device. In another possible design, the system may also include other devices that interact with the terminal device or network device in the solution provided in the embodiment of the present application.

[0013] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program enables a terminal to execute part or all of the steps in the methods of the above aspects.

[0014] In a ninth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a terminal to perform some or all of the steps of the methods described in each of the above aspects. In some implementations, the computer program product may be a software installation package.

[0015] In the tenth aspect, an embodiment of the present application provides a chip, which includes a memory and a processor. The processor can call and run a computer program from the memory to implement some or all of the steps described in the methods of the above aspects.

[0016] When performing side positioning in a scenario with partial network coverage, the first terminal device located within the network coverage area sends first positioning configuration information to the network device so that the network device can determine whether the first positioning configuration information needs to be updated. This is helpful in reducing or avoiding configuration conflicts caused by the subsequent use of the first positioning configuration information to perform side positioning on other terminal devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a system architecture diagram of a communication system to which an embodiment of the present application can be applied.

[0018] FIG2 is a schematic diagram of performing positioning measurement based on the communication system shown in FIG1 .

[0019] FIG3 is a flow chart illustrating a method for providing positioning services for terminal devices using Multi-RTT as an example.

[0020] FIG4 is a diagram showing an example of a side communication scenario within the network coverage area.

[0021] FIG5 is an example diagram of a side communication scenario with partial network coverage.

[0022] FIG6 is a diagram showing an example of a side communication scenario outside the network coverage area.

[0023] FIG7 is an example diagram of lateral positioning provided by an embodiment of the present application.

[0024] FIG8 is an example diagram of lateral positioning provided by another embodiment of the present application.

[0025] FIG9 is a flowchart of a method for lateral positioning provided in an embodiment of the present application.

[0026] FIG10 is a flowchart of a method for lateral positioning provided by another embodiment of the present application.

[0027] FIG11 is a flowchart of a method for lateral positioning provided by yet another embodiment of the present application.

[0028] FIG12 is a schematic structural diagram of a device for lateral positioning provided in an embodiment of the present application.

[0029] FIG13 is a schematic structural diagram of a device for lateral positioning provided in another embodiment of the present application.

[0030] FIG14 is a schematic structural diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] Communication system architecture

[0032] 1 is a diagram illustrating an exemplary system architecture of a wireless communication system 100 to which embodiments of the present application may be applied. 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.

[0033] FIG1 exemplarily shows a network device and two terminal devices. Optionally, the wireless communication system 100 may include multiple network devices 110 and / or another number of terminal devices 120. For one or more terminal devices 120, the one or more terminal devices 120 may all be located within the network coverage area, or all be located outside the network coverage area, or some may be located within the network coverage area and others outside the network coverage area, which is not limited in the embodiments of the present application.

[0034] Optionally, the wireless communication system 100 may further include other network entities such as a network controller and a mobility management entity, which is not limited in the embodiment of the present application.

[0035] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as: fifth generation (5G) system or new radio (NR) system, long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD) system, etc. The technical solutions provided in this application can also be applied to future communication systems, such as the sixth generation mobile communication system, satellite communication system, etc.

[0036] The terminal device in the embodiment of the present application may 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, wireless communication device, user agent or user device. The terminal device in the embodiment of the present application may 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 connection function, a vehicle-mounted device, etc. The terminal device in the embodiment of the present application may be a mobile phone, a tablet computer (Pad), a laptop computer, a PDA, a mobile internet device (MID), a wearable device, a vehicle, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. For example, a terminal device can act as a dispatching entity, providing sidelink signals between terminal devices in vehicle-to-everything (V2X) or device-to-device (D2D) communications. For example, a cell phone and a car can communicate with each other using sidelink signals. A cell phone and a smart home device can also communicate without relaying the communication signal through a base station. Alternatively, the terminal device can be used to act as a base station.

[0037] In some embodiments of the present application, a network device may be a device for communicating with a terminal device. In some embodiments, the network device referred to in the present application may refer to an access network device or a wireless access network device, such as a base station. In some embodiments, the network device referred to in the present application may refer to a core network device or a device located in the core network, such as a positioning device in the core network.

[0038] The base station in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network. The base station may provide communication coverage for a specific geographical area and may communicate with terminal devices located within the coverage area. A base station may broadly cover various names as follows, or be replaced with the following names, such as: NodeB, evolved NodeB (eNB), next generation NodeB (gNB), relay station, access point, transmitting and receiving point (TRP), transmitting point (TP), master station MeNB, secondary station SeNB, multi-standard 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 may be a macro base station, a micro base station, a relay node, a donor node, or the like, or a combination thereof. A base station may also refer to a communication module, modem, or chip used to be set in the aforementioned device or apparatus. A base station may also be a mobile switching center and a device that performs base station functions in device-to-device D2D, V2X, or machine-to-machine (M2M) communications, a network-side device in a 6G network, or a device that performs base station functions in future communication systems. A base station may support networks with the same or different access technologies. The embodiments of this application do not limit the specific technology and specific device form used by network devices.

[0039] 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 based on the location of the mobile base station. In other examples, a helicopter or drone can be configured to act as a device that communicates with another base station.

[0040] The positioning device in the embodiment of the present application can be used to determine the location information of the terminal device. The positioning device can be located in the core network. In some embodiments, the positioning device can also be referred to as a positioning server or a positioning management device. Taking the NR system as an example, the positioning device can be a location management function (LMF). Taking other communication systems as an example, the positioning device can be a location management unit (LMU), a location management center (LMC) or an evolved serving mobile location center (E-SMLC). It can be understood that the positioning device can also be other network elements, nodes or devices for determining the location information of the terminal device, such as network elements or nodes for determining the location information of the terminal device in future communication systems. The embodiment of the present application does not specifically limit the name of the positioning device.

[0041] As mentioned above, the wireless communication system 100 may include one or more network devices 110. It should be understood that when the wireless communication system 100 includes multiple network devices 110, the multiple network devices 110 may include both base stations and positioning devices. For example, the multiple network devices 110 may include a positioning device and a base station, or may include a positioning device and multiple base stations, etc.

[0042] It should be understood that, in some embodiments, the terminal device being within the network coverage or outside the network coverage may mean that the terminal device is within the network coverage of the base station or outside the network coverage of the base station.

[0043] In some deployments, the network device in the embodiments of the present application may refer to a CU or a DU, or the network device may include a CU and a DU. The gNB may also include an AAU.

[0044] The network equipment and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the scenarios in which the network equipment and terminal devices are located.

[0045] Positioning Technology in Communication Systems

[0046] 2 , the network device 110 in the wireless communication system 100 includes a plurality of base stations 110a (three are used as an example in FIG2 ) and a positioning device 110b. When positioning is performed, it can be roughly divided into three processes. In the first step, the terminal device 120 and / or the base station 110a sends a reference signal according to a known configuration pattern. For example, the terminal device 120 sends a sounding reference signal (SRS), or the base station 110a sends a positioning reference signal (PRS). In the second step, the base station 110a and / or the terminal device 120 then measures the SRS and / or PRS according to the known configuration pattern to obtain relevant information of the positioning measurement. In the third step, the relevant information of these positioning measurements is summarized to the terminal device 120 or the positioning device 110b to perform positioning and obtain the final positioning result. In this process, the base station is used as an anchor point to determine the position of the terminal device.

[0047] The positioning in the communication system 100 may include multiple positioning methods. For example, uplink positioning and downlink positioning. Some communication systems (such as NR systems) perform downlink positioning based on PRS. PRS, also known as downlink positioning reference signal (DL-PRS), is a reference signal used for positioning function. For example, in the downlink positioning process, the terminal device 120 can first measure the PRS sent by the base station 110a (the base station of the serving cell and the base station of the neighboring cell) and estimate the relevant information of the positioning measurement. Then, the terminal device 120 can report the relevant information of the positioning measurement as the measurement result of the PRS to the positioning device 110b. The positioning device 110b can solve the position of the terminal device 120 based on the positioning measurement related information reported by the terminal device 120, thereby obtaining the position information of the terminal device 120. For example, the positioning device 110b can calculate the position information of the terminal device 120 based on the triangulation positioning method or the triangulation positioning method.

[0048] Some communication systems (such as NR systems) perform uplink positioning based on SRS. The SRS signal used for positioning can also be called a positioning SRS signal, or an uplink SRS signal. The embodiments of the present application do not distinguish between them. For example, during the uplink positioning process, the terminal device 120 sends an SRS. The base station 110a (the base station of the serving cell and the base station of the neighboring cell) can obtain measurement results based on the SRS sent by the terminal device 120. The measurement results of the SRS may include relevant information of the positioning measurement. Then, the base station 110a can send the relevant information of the positioning measurement to the positioning device 110b. The positioning device 110b can solve the position of the terminal device 120 based on the positioning measurement related information reported by the base station 110a, thereby obtaining the position information of the terminal device 120. For example, the positioning device 110b can calculate the position information of the terminal device 120 based on the triangulation positioning method or the triangulation positioning method.

[0049] The above-mentioned positioning measurement related information may include one or more of the following information: time information, distance information, power information, and angle information. More specifically, the positioning measurement related information may include one or more of the following information: time difference of arrival (TDOA), angle difference of arrival (ADOA), reference signal receive power (RSRP), etc.

[0050] Depending on the relevant information of the positioning measurement, the positioning method in the communication system may also include TDOA positioning, angle of arrival (AOA) positioning, ADOA positioning, angle of departure (AOD) positioning, multi-round trip time (Multi-RTT) positioning, enhanced cell identification (E-CID) positioning, etc., which is not limited to the embodiments of the present application.

[0051] In the wireless communication system 100, messages between the terminal device 120 and the positioning device 110b, and / or messages between the base station 110a and the positioning device 110b, can be transmitted via a positioning protocol. The positioning protocol can be understood as a high-level protocol, such as the LTE positioning protocol (LPP) and / or the new radio positioning protocol (NRPP). Exemplarily, messages between the terminal device 120 and the positioning device 110b can be transmitted via LPP signaling, and messages between the base station 110a and the positioning device 110b can be transmitted via NRPP signaling.

[0052] Figure 3 uses Multi-RTT as an example to illustrate a method for providing positioning services for terminal devices. In the example of Figure 3, the positioning device is LMF.

[0053] 301. The base station and the LMF exchange downlink PRS configuration information according to the positioning protocol, for example, by exchanging the downlink PRS configuration information through the NRPP annex (NRPPa).

[0054] 302: Positioning capability interaction is performed between the terminal device and the LMF. The positioning capability interaction may be that the LMF requests the terminal device for positioning capability, and the terminal device reports the positioning capability to the LMF after receiving the positioning capability request message.

[0055] 303. The LMF requests the base station's positioning information from the base station to obtain the configuration information for the terminal device's uplink SRS. Optionally, the LMF may request the base station's positioning information from the base station of the terminal device's serving cell via NRPPa signaling. Optionally, if the request message includes the requested uplink SRS transmission characteristics, the base station should consider these transmission characteristics when configuring uplink SRS transmission for the terminal.

[0056] 304. The base station determines the configuration information of the uplink SRS allocated to the terminal device, and sends the configuration information of the uplink SRS to the terminal device.

[0057] 305. The base station returns the positioning information of the base station to the LMF. Optionally, the positioning information returned by the base station to the LMF includes the configuration information of the uplink SRS of the terminal device.

[0058] 306: The LMF activates the terminal device to transmit the SRS. Specifically, 306 may include 306a-306c. In 306a, the LMF sends a positioning activation request message to the base station, requesting activation of the terminal device to transmit the SRS. In 306b, the base station activates the terminal device to transmit the SRS. In 306c, the base station sends a response message to the LMF in response to the positioning activation request message.

[0059] 307. The LMF sends a measurement request to the base station, requesting the base station to measure the SRS sent by the terminal device.

[0060] 308-309, the LMF provides positioning assistance data to the terminal device and sends a positioning measurement request to the terminal device.

[0061] 310. The terminal device and the base station respectively perform positioning measurements, wherein the terminal device measures the downlink PRS sent by the base station, and the base station measures the uplink SRS sent by the terminal device.

[0062] 311-312, the terminal device and the base station report the measurement results to the LMF respectively. For example, the terminal device can report the measurement results to the LMF via ProvideLocationInformation msg.

[0063] 313. LMF sends a positioning deactivation message to the base station.

[0064] It can be seen that when the Multi-RTT positioning method is used for positioning, both the base station and the terminal device perform positioning measurements, so that the LMF can calculate a more accurate positioning of the terminal device. Specifically, for the uplink measurement direction, in step 304, the base station configures the uplink SRS resources for the terminal device, and then in step 306a, the network activates the terminal device to transmit the SRS. In step 307, the LMF informs each nearby base station of the SRS resource configuration of the terminal device through the NRPPa measurement request, and requires each base station to measure the SRS sent by the terminal device, and finally in step 312, each base station reports the measurement results they have collected to the LMF. In addition, for the downlink measurement direction, in steps 308 and 309, the network first sends the unique downlink PRS configuration information of each base station to the terminal device, and then activates the terminal to perform downlink measurements. Finally, in step 311, the terminal device sends the measurement results to the LMF via LPP.

[0065] Positioning reference signal configuration

[0066] In some positioning systems (such as 5G), reference signals sent by different devices or base stations must maintain orthogonality. This ensures that the signals measured by all parties in the system originate from a single point, thus guaranteeing the uniqueness of the reference signal configuration. This guarantee is fundamental to positioning estimation. Alternatively, orthogonality can be ensured in at least one of the time, frequency, and code domains.

[0067] The following describes the corresponding configurations of downlink PRS and positioning SRS respectively.

[0068] For the terminal device side, the configuration information of the downlink PRS is provided to the terminal device by the positioning device through the positioning protocol signaling. For example, in the NR system, the configuration information of the downlink PRS can be provided to the terminal device by the LMF through LPP signaling. The parameter configuration of the downlink PRS can adopt a four-layer signaling structure, which can be represented from the top to the bottom as: positioning frequency layer (PFL), TRP, downlink PRS resource set, and downlink PRS resource.

[0069] In the downlink PRS parameter configuration, up to 4 PFL downlink PRS configurations can be provided for a terminal device. In each PFL, the terminal device is configured with multiple TRPs sending downlink PRS signals at the same frequency point. The PRS parameters configured in each PFL can be applied to all PRS resources contained in this PFL. Each PFL can include up to 64 TRPs, and each TRP can be configured with one or two downlink PRS resource sets, which configure all downlink PRS resources sent by this TRP at a certain frequency point. Each downlink PRS resource set can be configured with multiple downlink PRS resources, each downlink PRS resource can represent the transmission beam of a TRP, and different downlink PRS resources can represent different transmission beams of this TRP.

[0070] The parameter structure of each PFL may include one or more of the following configuration parameters of the downlink PRS signal: the subcarrier spacing of the downlink PRS signal, the cyclic prefix (CP) length of the downlink PRS signal, the frequency domain resource bandwidth of the downlink PRS, the frequency domain reference point of the downlink PRS signal, the frequency domain starting frequency position of the downlink PRS resource, and the comb tooth size Comb-N of the downlink PRS signal. The above downlink PRS parameters configured in each PFL can be applied to all downlink PRS resources contained in this PFL. That is to say, in one PFL, all downlink PRS signals from multiple different TRPs will use the same subcarrier spacing and CP length, the same comb tooth size, be sent on the same frequency subband, and occupy exactly the same bandwidth. Such a design can support terminal equipment to simultaneously receive and measure downlink PRS signals from multiple different TRPs that are sent at the same frequency point.

[0071] The parameters of the TRP layer may include an identification parameter for uniquely identifying the positioning TRP, for example, it may be the physical cell identifier (PCI) of the TRP; or, it may be the cell global identifier (CGI) of the TRP, such as the NR cell global identifier (NCGI); or, it may be the absolute radio frequency channel number (ARFCN) of the TRP.

[0072] Each TRP layer can be configured with up to two downlink PRS resource sets. These parameters apply to all downlink PRS resources contained in this resource set. The downlink PRS resource set layer parameters can be configured with one or more of the following parameters: downlink PRS resource set identification, downlink PRS transmission period and time slot offset, downlink PRS resource repetition factor, downlink PRS resource repetition interval, downlink PRS muting configuration, and the number of OFDM symbols occupied by downlink PRS resources.

[0073] In the downlink PRS resource configuration, one or more of the following parameters are configured for each downlink PRS resource: downlink PRS resource identification identifier, downlink PRS sequence ID, downlink PRS starting frequency domain resource unit offset, downlink PRS resource time slot offset, downlink PRS OFDM symbol offset, downlink PRS Quasi Co-Location (QCL) information.

[0074] The configuration information of the positioning SRS signal can be provided to the terminal device by the base station of the serving cell, for example, through high-layer signaling (for example, radio resource control (RRC) signaling). In some communication systems (for example, NR systems), the positioning SRS signal can be configured in the same way as the multi-input multi-output SRS (MIMO SRS) signal. A terminal device can be configured with one or more positioning SRS signal resource sets. And a positioning SRS signal resource set can contain one or more positioning SRS signal resources. Compared with the MIMO SRS signal, the biggest difference of the positioning SRS signal is that the positioning SRS signal needs to be sent to the TRP of the non-serving cell so that multiple TRPs can measure the uplink positioning measurement value of the same terminal device and thus calculate the position of the terminal device. In terms of time domain transmission, the positioning SRS signal inherits all time domain transmission behaviors supported by the MIMO SRS signal. In other words, the positioning SRS signal supports periodic transmission, semi-continuous transmission and non-periodic transmission modes. During semi-persistent transmission, the MAC control element (MAC CE) can activate or deactivate the transmission of positioning SRS signals. Aperiodic positioning SRS signals can be triggered by downlink control information (DCI). These mechanisms are identical to existing SRS transmission mechanisms for MIMO.

[0075] Sideline communication under different network coverage conditions

[0076] Sidelink communication refers to a communication technology based on sidelinks. Examples of sidelink communication include D2D or V2X. In traditional cellular systems, communication data is sent or received between terminal devices and network equipment, while sidelink communication supports direct communication and data transmission between terminal devices. Compared to traditional cellular communication, direct device-to-device communication can achieve higher spectral efficiency and lower transmission latency. For example, the Internet of Vehicles (IoV) system utilizes sidelink communication technology.

[0077] In sideline communication, according to the network coverage of the terminal device, sideline communication can be divided into sideline communication within the network coverage (in-coverage, IC), sideline communication with partial network coverage (partial coverage), and sideline communication outside the network coverage (out-of-coverage, OOC).

[0078] Figure 4 illustrates an example scenario for sidelink communication within network coverage. In the scenario shown in Figure 4 , both terminal devices 120a are within the coverage of network device 110. Therefore, both terminal devices 120a can receive configuration information from network device 110 (configuration information in this application can also be replaced with configuration signaling) and determine the sidelink configuration based on the configuration information from network device 110. After both terminal devices 120a have configured their sidelinks, sidelink communication can proceed over the sidelink.

[0079] Figure 5 is an example diagram of a scenario of sidelink communication with partial network coverage. In the scenario shown in Figure 5, terminal device 120a and terminal device 120b perform sidelink communication. Terminal device 120a is located within the coverage range of network device 110, so terminal device 120a can receive the configuration information of network device 110 and determine the sidelink configuration based on the configuration information of network device 110. Terminal device 120b is located outside the network coverage and cannot receive the configuration information of network device 110. In this case, terminal device 120b can determine the sidelink configuration based on pre-configuration information and / or information carried in the physical sidelink broadcast channel (PSBCH) sent by terminal device 120a within the network coverage. After both terminal device 120a and terminal device 120b perform sidelink configuration, sidelink communication can be performed on the sidelink.

[0080] Figure 6 illustrates an example scenario for sidelink communication outside of network coverage. In the scenario shown in Figure 6, both terminal devices 120b are outside of network coverage. In this scenario, both terminal devices 120b can determine the sidelink configuration based on pre-configured information. After both terminal devices 120b have configured their sidelinks, sidelink communication can proceed over the sidelink.

[0081] Positioning in side-by-side communication scenarios

[0082] Unlike using a base station as an anchor point to determine the location of a terminal device, when performing positioning in a side-by-side traffic scenario, the terminal device can be used as an anchor point. In this case, the terminal device serving as the anchor point is called the anchor UE, and the terminal device whose location needs to be determined is called the target UE (also known as the terminal device under test). The anchor terminal device has a similar function to the base station (or TRP) and can both serve as an anchor point.

[0083] In the side communication scenario, the system can perform measurements on the S-PRS sent by the target terminal device through the anchor terminal device, or the target terminal device can perform measurements on the S-PRS sent by the anchor terminal device. Combined with the location information of the anchor terminal device, the system can complete the positioning of the target terminal device.

[0084] In the scenario of sidelink communication within the network coverage, the target terminal device and the anchor terminal device used for sidelink positioning are both in a state of being connected to the communication system (e.g., 5G system). In this case, the configuration of the sidelink positioning reference signal (S-PRS) used for sidelink positioning can be configured by the network device (e.g., base station and / or positioning device in the core network). That is, in the scenario of sidelink communication within the network coverage, the configuration of the S-PRS can be controlled by the network side. Possible options are as follows: (1) The S-PRS of the anchor terminal device can be controlled by the positioning device (e.g., LMF), and the S-PRS of the target terminal device can be controlled by the base station (e.g., gNB). In this case, the S-PRS of the anchor terminal device is similar to the downlink PRS in the NR system, and the S-PRS of the target terminal device is similar to the uplink SRS in the NR system. (2) The S-PRS of both the anchor terminal device and the target terminal device are controlled by the base station. (3) The S-PRS of both the anchor terminal device and the target terminal device are controlled by the positioning device.

[0085] In the scenario of side-line communication outside the network coverage, both the anchor terminal device and the target terminal device are in a state of being disconnected from the communication system (for example, the 5G system). In this case, the configuration of the S-PRS used for the anchor terminal device and the target terminal device to perform side-line positioning is not controlled by the network device.

[0086] In sideline communication scenarios with partial network coverage, the anchor terminal device and the target terminal device are partially located within the network coverage area and partially located outside the network coverage area. In this case, if the S-PRS configuration used for sideline positioning of the anchor terminal device and the target terminal device is not controlled by the network equipment, it may cause S-PRS configuration conflicts for other terminal devices in the surrounding area, especially for terminal devices located at the edge of the cell within the network coverage area.

[0087] For example, in a scenario where both the target terminal device and the anchor terminal device are outside the network coverage, due to improved mobility or channel quality, the network coverage status of the target terminal device or the anchor terminal device may change from outside the network coverage to within the network coverage. If at this time the configuration of the side positioning reference signal used by the target terminal device and the anchor terminal device is not controlled by the network side, it may cause a conflict in the side positioning reference signal configuration for other surrounding terminal devices.

[0088] In order to solve the above problems, the embodiments of the present application provide a method, an apparatus, a terminal device and a network device for side positioning.

[0089] The technical solution provided by the embodiments of the present application can be applied to sidewalk positioning in partial network coverage scenarios. When performing sidewalk positioning in partial network coverage scenarios, multiple terminal devices participate, including a target terminal device performing a positioning operation and multiple anchor terminal devices. The location of the target terminal device is determined based on the measurement results of the target terminal device or the measurement results of the anchor terminal devices, combined with the location information of the anchor terminal devices.

[0090] There may be multiple positioning methods used for the multiple terminal devices to perform side positioning, which are not limited in the embodiments of the present application. As an example, depending on the relevant information of the positioning measurement, the positioning methods used for side positioning may include TDOA positioning, AOA positioning, AOD positioning, Multi-RTT positioning, E-CID positioning, etc. As another example, depending on the flow direction of the positioning reference signal, the positioning methods used for side positioning may include a positioning method in which the target terminal device sends a positioning reference signal and a positioning method in which the anchor terminal device sends a positioning reference signal.

[0091] Among the multiple terminal devices, some are within the network coverage area, while others are outside the network coverage area. As shown in FIG7 , the terminal device within the network coverage area may be the target terminal device. For example, if the mobility or channel quality improves, the network coverage state of the target terminal device changes from being outside the network coverage area to being within the network coverage area. As shown in FIG8 , the terminal device within the network coverage area may also be an anchor terminal device, which is not limited in the embodiments of the present application.

[0092] The method provided in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0093] Figure 9 is a flow chart of a method for side positioning provided by an embodiment of the present application. The method of Figure 9 is described from the perspective of the interaction between the first terminal device and the network device. The first terminal device is one of the multiple terminal devices participating in the side positioning, and the first terminal device is located within the network coverage. In addition to the first terminal device, the other terminal devices in the multiple terminal devices may be partially located outside the network coverage, or all located outside the network coverage. That is, some or all of the terminal devices in the multiple terminal devices except the first terminal device are located outside the network coverage. Exemplarily, the first terminal device may be, for example, the terminal device 120a shown in Figure 5.

[0094] In some embodiments, the first terminal device may be a target terminal device, and the location information of the first terminal device may be obtained through side positioning. In some embodiments, the first terminal device may be an anchor terminal device, and the location information of the target terminal device may be determined using the first terminal device and other anchor terminal devices.

[0095] The network devices mentioned in the embodiments of this application may refer to, for example, base stations or positioning devices, and this is not limited in this embodiment of the application. Taking the NR system as an example, when the network device is a base station, the base station may be a gNB; when the network device is a positioning device, the positioning device may be an LMF. For example, the network device may be the network device 110 shown in Figures 1-5. For a detailed description of the terminal device and network device, please refer to the previous text and will not be repeated here.

[0096] As shown in Figure 9, in step S910, the first terminal device sends a first message to the network device. The signaling types used to carry the first message may include multiple types, such as positioning protocol signaling (such as LPP signaling), RRC signaling, MAC CE signaling, etc. Taking the network device as a positioning device as an example, the first terminal device can send the first message via LPP signaling. Taking the network device as a base station as an example, the first terminal device can send the first message via RRC dedicated signaling, MAC CE signaling, etc.

[0097] The first message includes first positioning configuration information. The first positioning configuration information can be used for sideways positioning. The first positioning configuration information can include positioning configuration information corresponding to the target terminal device and / or positioning configuration information corresponding to the anchor terminal device.

[0098] In the case where the first terminal device is an anchor terminal device, if the first terminal device is the sender of the positioning reference signal, the first positioning configuration information may include the positioning configuration information corresponding to the anchor terminal device, for example, the positioning configuration information corresponding to the first terminal device and the positioning configuration information corresponding to other anchor terminal devices; if the first terminal device is the receiver of the positioning reference signal, the first positioning configuration information may include the positioning configuration information corresponding to the target terminal device.

[0099] In the case where the first terminal device is the target terminal device, if the first terminal device is the sender of the positioning reference signal, the first positioning configuration information may include the positioning configuration information corresponding to the target terminal device; if the first terminal device is the receiver of the positioning reference signal, the first positioning configuration information may include the positioning configuration information corresponding to the anchor terminal device, such as the positioning configuration information corresponding to each anchor terminal device that jointly performs side positioning with the first terminal device.

[0100] In some embodiments, the first positioning configuration information may include S-PRS configuration information. The S-PRS configuration information may include S-PRS parameter configuration. The embodiments of the present application do not specifically limit the S-PRS parameter configuration. For example, the S-PRS parameter configuration may adopt a four-layer signaling structure, such as a structure equivalently converted from the four-layer signaling structure of the downlink PRS, or may also adopt other signaling structures.

[0101] In some embodiments, the first message may include other information in addition to the first positioning configuration information. For example, the first message may include one or more of the following information: identification information of multiple terminal devices; and positioning methods used by multiple terminal devices.

[0102] The identification information of multiple terminal devices may include the identification information of the target terminal device and / or the identification information of the anchor terminal device. For example, if the first terminal device is the target terminal device, the first message may include the identification information of multiple anchor terminal devices so that the network side knows which anchor terminal devices correspond to the first positioning configuration information. Alternatively, if the first terminal device is the anchor terminal device, the first message may include the identification information of the target terminal device and the identification information of other anchor terminal devices other than the first terminal device.

[0103] For example, the positioning method used by the multiple terminal devices can be any one of the positioning methods listed above for side positioning, such as AOA positioning. It should be understood that the positioning method used can also be other positioning methods, and this application does not limit this.

[0104] In some embodiments, the sending of the first message may be triggered by an event. For example, the sending of the first message may be triggered by one or more of the following events. These events are described below in exemplary manner.

[0105] First event: the network coverage status of the first terminal device is converted from being outside the network coverage to being within the network coverage. For example, when the first terminal device moves from being outside the network coverage to being within the network coverage, or when the network coverage status of the first terminal device is changed to being within the network coverage due to improved channel quality, the sending of the first message can be triggered. As a specific example, multiple terminal devices (including the first terminal device) are themselves located outside the network coverage. After negotiating the first positioning configuration information, they can perform side positioning based on the first positioning configuration information. Due to improved mobility or channel quality, the network coverage status of the first terminal device among the multiple terminal devices is converted to being within the network coverage. The first event is triggered, and the first terminal device sends a first message to the network device.

[0106] Second event: the value of the downlink path loss measured by the first terminal device is less than the first threshold. When the value of the downlink path loss measured by the first terminal device is less than the first threshold, it can be indirectly deduced that the first terminal device is within the network coverage, so that when the second event is triggered, the first terminal device can send a first message to the network device. As an implementation method, the first terminal device can measure the reference signal receiving power (RSRP) of the downlink path loss reference signal of the nearest base station. If the RSRP of the downlink path loss reference signal is measured to be greater than a certain threshold, it means that the value of the downlink path loss measured by the first terminal device is less than the first threshold, and the second event can be considered to be triggered.

[0107] When performing side positioning in a scenario with partial network coverage, the first terminal device located within the network coverage area sends first positioning configuration information to the network device so that the network device can determine whether the first positioning configuration information needs to be updated. This is helpful in reducing or avoiding configuration conflicts caused by the subsequent use of the first positioning configuration information to perform side positioning on other terminal devices.

[0108] As described above, the first positioning configuration information may include positioning configuration information corresponding to the anchor terminal device. In some embodiments, the first positioning configuration information may include positioning configuration information corresponding to multiple anchor terminal devices. For example, when the first terminal device is an anchor terminal device, when there are multiple anchor terminal devices performing a positioning operation, the first terminal device can be understood as the first anchor terminal device among the multiple anchor terminal devices. In addition to including the configuration information corresponding to the first anchor terminal device, the first positioning configuration information may also include positioning configuration information corresponding to the second anchor terminal device among the multiple anchor terminal devices. In other words, when the first terminal device is an anchor terminal device, the first positioning configuration information may include the positioning configuration information corresponding to the first terminal device and the positioning configuration information corresponding to other anchor terminal devices other than the first terminal device.

[0109] Because the first anchor terminal device only knows its own corresponding positioning configuration information, but does not know the positioning configuration information corresponding to the second anchor terminal device, when the first terminal device is the first anchor terminal device, before the first anchor terminal device sends the first positioning configuration information to the network device, it also needs to obtain the positioning configuration information corresponding to the second anchor terminal device. This embodiment of the application does not limit the method for obtaining the positioning configuration information corresponding to the second anchor terminal device.

[0110] As an implementation method, considering that each anchor terminal device has established a sidelink with the target terminal device, when the first anchor terminal device needs to obtain the positioning configuration information corresponding to the second anchor terminal device, it can obtain it through the sidelink between the first anchor terminal device and the target terminal device, that is, the first anchor terminal device can request the positioning configuration information corresponding to the second anchor terminal device from the target terminal device. Exemplarily, the first anchor terminal device can request the positioning configuration information of the second anchor terminal device from the target terminal device via sidelink dedicated signaling.

[0111] As another implementation method, when a side link is established between the first anchor terminal device and the second anchor terminal device, the positioning configuration information corresponding to the second anchor terminal device can be directly obtained through the side link between the first anchor terminal device and the second anchor terminal device.

[0112] As another implementation method, the second anchor terminal device can broadcast its corresponding positioning configuration information. In this case, the first anchor terminal device can obtain the positioning configuration information corresponding to the second anchor terminal device by receiving the positioning configuration information broadcast by the second anchor terminal device.

[0113] After the network device receives the first message sent by the first terminal device, it can determine, based on the first positioning configuration information in the first message, whether multiple terminal devices using the first positioning configuration information to perform side positioning will conflict with the positioning configuration information corresponding to other terminal devices configured in the network.

[0114] Continuing with FIG9 , in some embodiments, the method provided by the embodiments of the present application may further include step S920. In step S920, the network device sends a second message to the first terminal device, the second message being used to instruct the first terminal device whether to update the first positioning configuration information. Step S920 is described in detail below.

[0115] The second message may be carried in different signaling. For example, when the network device is a base station, the second message may be carried in RRC signaling or MAC CE signaling; when the network device is a positioning device, the second message may be carried in positioning protocol signaling (such as LPP signaling). In some embodiments, the signaling carrying the second message and the signaling carrying the first message may be of the same type, for example, both are LPP signaling, or both are RRC signaling. In some embodiments, the signaling carrying the second message and the signaling carrying the first message may be of different types, for example, the signaling carrying the second message is RRC signaling, while the signaling carrying the first message is MAC CE signaling.

[0116] In some embodiments, the second message is used to instruct the first terminal device to continue using the first positioning configuration information. That is, the second message can be used to indicate that the first positioning configuration information is not updated. As an implementation method, the second message can be a positive confirmation message, which is used to feed back a confirmation message to the first terminal device, instructing the first terminal device to continue using the first positioning configuration information. As another implementation method, the second message can include the first positioning configuration information, and the first terminal device can continue to use the first positioning configuration information after receiving the second message. The positioning configuration information in the second message is still the first positioning configuration information, and can also be used to indicate that the first positioning configuration information is not updated.

[0117] In the case where the second message is used to instruct the first terminal device to continue using the first positioning configuration information, after receiving the second message, the first terminal device can use the first positioning configuration information to perform subsequent side positioning processes with other terminal devices among the multiple terminal devices.

[0118] In some embodiments, the second message may be used to indicate an update of the first positioning configuration information. For example, the second message may include the second positioning configuration information. The second positioning configuration information may be different from the first positioning configuration information and may be understood as the updated first positioning configuration information.

[0119] In some embodiments, the second message may include other information in addition to the second positioning configuration information, which is not limited in the embodiments of the present application. For example, the second message may also include identification information of a candidate anchor terminal device and / or a candidate positioning method. In other words, in addition to updating the first positioning configuration information, the network device may also configure other available candidate anchor terminal devices and positioning methods.

[0120] In some embodiments, after receiving the second message sent by the network device, the first terminal device may also send a response message to the second message to the network device. For example, the response message to the second message may be used to indicate that the update of the first positioning configuration information has been completed.

[0121] When the second message is used to instruct the first terminal device to update the first positioning configuration information, for example, when the second message includes the second positioning configuration information, after receiving the second message sent by the network device, the first terminal device may further send a third message to one or more second terminal devices. The third message may be used to instruct the one or more second terminal devices to perform sideways positioning based on the second positioning configuration information.

[0122] The one or more second terminal devices can be understood as the terminal devices that ultimately participate in the sideline positioning selected by the target terminal device after the network device sends the second message. In other words, the second terminal device can be one of the multiple terminal devices included in the first message, or it can be one of the candidate anchor terminal devices indicated by the network device in the second message. This embodiment of the present application is not limited to this. For the sake of simplicity, the anchor terminal device among the multiple terminal devices included in the first message can be referred to as the existing anchor terminal device, and the candidate anchor terminal device indicated by the network device in the second message can be referred to as the new anchor terminal device.

[0123] The one or more second terminal devices may include candidate anchor terminal devices (new anchor terminal devices) or existing anchor terminal devices. That is, when the network device indicates a candidate anchor terminal device, the target terminal device may select between the existing anchor terminal device and the new anchor terminal device indicated by the network device, and reselect a suitable anchor terminal device for side-by-side positioning.

[0124] When the first terminal device is the target terminal device, the one or more second terminal devices are all anchor terminal devices. In some embodiments, the one or more second terminal devices may all be existing anchor terminal devices. In some embodiments, the one or more second terminal devices may all be candidate anchor terminal devices. In some embodiments, the one or more second terminal devices may include both existing anchor terminal devices and candidate anchor terminal devices.

[0125] In the case where the first terminal device is an anchor terminal device, the one or more second terminal devices include both a target terminal device and an anchor terminal device. In some embodiments, the one or more second terminal devices may all be existing anchor terminal devices. In some embodiments, the one or more second terminal devices may all be candidate anchor terminal devices. In some embodiments, the one or more second terminal devices may include both existing anchor terminal devices and candidate anchor terminal devices.

[0126] The embodiments of the present application do not specifically limit the criteria by which the target terminal device selects the anchor terminal device that ultimately participates in side-by-side positioning from existing anchor terminal devices and candidate anchor terminal devices. For example, the target terminal device may select a suitable anchor terminal device for side-by-side positioning based on one or more of the following criteria: whether there is global navigation satellite system (GNSS) clock synchronization, whether the side-by-side RSRP meets a threshold, whether there is a direct path, etc.

[0127] As mentioned above, in some embodiments, the second message may also include a candidate positioning method. In this case, the positioning method for the side positioning adopted by the first terminal device and the one or more second terminal devices may include the candidate positioning method. For example, if the candidate positioning method indicated in the second message is TDOA positioning, the positioning method for the side positioning adopted by the first terminal device and the one or more second terminal devices may be TDOA positioning. However, the embodiments of the present application are not limited to this. For example, the positioning method for the side positioning adopted by the first terminal device and the one or more second terminal devices may be other methods other than the candidate positioning method, for example, it may be a positioning method originally planned to be adopted by multiple terminal devices, such as the positioning method indicated in the first message (such as AOA positioning).

[0128] In some embodiments, after receiving the third message sent by the first terminal device, the one or more second terminal devices may also send a response message to the third message to the first terminal device.

[0129] Optionally, the response message of the third message may be used to indicate that the one or more second terminal devices confirm the use of the second positioning configuration information for side-by-side positioning.

[0130] As described above, there may be a case where the second terminal device is an anchor terminal device. In this case, if the first terminal device is also an anchor terminal device, multiple transmission methods are possible when transmitting messages between the first terminal device and the second terminal device (for example, the third message or a response message to the third message). Taking the example of the first terminal device being the first anchor terminal device among multiple terminal devices and the second terminal device being the second anchor terminal device among the multiple terminal devices, the third message and / or the response message to the third message can be transmitted in multiple methods.

[0131] As an implementation method, considering that each anchor terminal device has established a side link with the target terminal device, when a message needs to be transmitted between the first anchor terminal device and the second anchor terminal device, the message can be transmitted through the side link between the first anchor terminal device and the target terminal device, that is, the first anchor terminal device can send a third message to the target terminal device, and the target terminal device forwards the third message to the second anchor terminal device; or, the second anchor terminal device sends a response message to the third message to the target terminal device, and the target terminal device forwards the response message to the third message to the first anchor terminal device.

[0132] As another implementation manner, when a side link is established between the first anchor terminal device and the second anchor terminal device, the transmission can be directly through the side link between the first anchor terminal device and the second anchor terminal device.

[0133] Two examples of the embodiments of the present application are given below in conjunction with FIG. 10 and FIG. 11 .

[0134] In Example 1, the first terminal device is the target terminal device and the sender of the S-PRS. The first terminal device and three anchor terminal devices (anchor terminal device 1, anchor terminal device 2, and anchor terminal device 3) are originally located outside the network coverage area. The three anchor terminal devices are used to perform sidetrack positioning with the first terminal device. The first terminal device has been configured with a positioning reference signal (e.g., S-PRS). Example 1 is described in detail below in conjunction with Figure 10.

[0135] In step S1010, when the network coverage status of the first terminal device changes from being outside the network coverage to being within the network coverage, the first terminal device sends a first message to the network device, sending first positioning configuration information to the network device. The first positioning configuration information includes configuration information of the S-PRS currently being used by the first terminal device.

[0136] Optionally, the first terminal device can indirectly deduce that the first terminal device is within the network coverage based on the RSRP of the measured downlink path loss of the nearest base station being higher than a certain threshold.

[0137] Optionally, the first terminal device may send the first positioning configuration information to the network device through RRC dedicated signaling, MAC CE signaling, LPP signaling, etc.

[0138] Optionally, the first positioning configuration information may further include identification information of three anchor terminal devices participating in positioning, the positioning method adopted, and the like.

[0139] In step S1020, the network device determines whether the first positioning configuration information will cause a conflict with the S-PRS of other terminal devices configured in the network.

[0140] In step S1030, the network device sends a second message to the first terminal device.

[0141] If the network device determines that the first positioning configuration information does not conflict with the S-PRS of other terminal devices configured on the network, the second message is used to instruct the first terminal device to continue using the first positioning configuration information. For example, the second message can be a feedback confirmation message. After the first terminal device receives this feedback confirmation message, the process ends. The first terminal device can then perform sidetrack positioning with the three anchor terminal devices based on the first positioning configuration information.

[0142] If the network device determines that the first positioning configuration information will cause a conflict with the S-PRS of other terminal devices configured on the network, the second message is used to indicate second positioning configuration information to the first terminal device, which can be understood as updated positioning configuration information. The second positioning configuration information can include new S-PRS configuration information.

[0143] Optionally, the second message may also indicate identification information of other available candidate anchor terminal devices, candidate positioning methods, etc.

[0144] Optionally, the second message can be sent to the first terminal device via RRC dedicated signaling, MAC CE signaling, LPP signaling, etc.

[0145] In step S1040, the first terminal device sends a third message to one or more second terminal devices, where the third message is used to instruct the one or more second terminal devices to perform sideways positioning based on the second positioning configuration information. For example, the one or more second terminal devices may be three existing anchor terminal devices (anchor terminal device 1, anchor terminal device 2, and anchor terminal device 3). In this case, it can also be understood that after receiving the second positioning configuration information, the first terminal device may inform the existing anchor terminal devices of the second positioning configuration information.

[0146] Optionally, the first terminal device may send the second positioning configuration information to the second terminal device via side-bound dedicated signaling; or, the first terminal device may carry the second positioning configuration information in a broadcast so that the second terminal device receives the second positioning configuration information.

[0147] Optionally, if the second message indicates identification information of other available candidate anchor terminal devices, the first terminal device can select from existing anchor terminal devices and candidate anchor terminal devices indicated by the network device, and reselect a suitable anchor terminal device for side positioning.

[0148] Optionally, if the second message indicates that there are candidate positioning methods, the first terminal device may use one of the candidate positioning methods indicated by the network device to perform subsequent side positioning.

[0149] In step S1050, one or more second terminal devices send a response message to the third message to the first terminal device to confirm the configuration update.

[0150] In step S1060, the first terminal device sends a response message to the second message to the network device, confirming that the update of the first positioning configuration information is completed.

[0151] In step S1070, the first terminal device and the finally selected anchor terminal device perform a sideways positioning process according to the second positioning configuration information.

[0152] In Example 2, the first terminal device is an anchor terminal device, and the first terminal device is the sender of the S-PRS. The first terminal device (anchor terminal device 1), the target terminal device, and the other two anchor terminal devices (anchor terminal device 2 and anchor terminal device 3) are originally located outside the network coverage area. The target terminal device and the three anchor terminal devices are used to perform side positioning. The first terminal device and the other two anchor terminal devices have been configured with a positioning reference signal (e.g., S-PRS). Example 2 is described in detail below in conjunction with Figure 11.

[0153] In step S1110, when the network coverage status of the first terminal device changes from being outside the network coverage to being within the network coverage, the first terminal device sends a first message to the network device, sending the first positioning configuration information currently in use to the network device. The first positioning configuration information includes the S-PRS configuration information currently in use by the first terminal device and the other two anchor terminal devices.

[0154] Optionally, the first terminal device may request the configuration information of the S-PRS being used by the other two anchor terminal devices from the target terminal device through side-line dedicated signaling, or may directly request the other two anchor terminal devices through side-line dedicated signaling, or may obtain the information by receiving the configuration information of the S-PRS broadcast by the other two anchor terminal devices.

[0155] Optionally, the first terminal device can indirectly deduce that the first terminal device is within the network coverage based on the RSRP of the measured downlink path loss of the nearest base station being higher than a certain threshold.

[0156] Optionally, the first terminal device may send the first positioning configuration information to the network device through RRC dedicated signaling, MAC CE signaling, LPP signaling, etc.

[0157] Optionally, the first positioning configuration information may further include identification information of the target terminal device, identification information of the other two anchor terminal devices, the positioning method used, and the like.

[0158] In step S1120, the network device determines whether the first positioning configuration information will cause a conflict with the S-PRS of other terminal devices configured in the network.

[0159] In step S1130, the network device sends a second message to the first terminal device.

[0160] If the network device determines that the first positioning configuration information does not conflict with the S-PRS of other terminal devices configured on the network, the second message is used to instruct the first terminal device to continue using the first positioning configuration information. For example, the second message can be a feedback confirmation message. After the first terminal device receives this feedback confirmation message, the process ends. The first terminal device can then perform sideways positioning with the target terminal device and the other two anchor terminal devices.

[0161] If the network device determines that the first positioning configuration information will cause a conflict with the S-PRS of other terminal devices configured on the network, the second message is used to indicate second positioning configuration information to the first terminal device, which can be understood as updated positioning configuration information. The second positioning configuration information can include new S-PRS configuration information.

[0162] Optionally, the second message may also indicate identification information of other available candidate anchor terminal devices, candidate positioning methods, etc.

[0163] Optionally, the second message can be sent to the first terminal device via RRC dedicated signaling, MAC CE signaling, LPP signaling, etc.

[0164] In step S1140, the first terminal device sends a third message to one or more second terminal devices, where the third message is used to instruct the one or more second terminal devices to perform sideways positioning based on the second positioning configuration information. For example, the one or more second terminal devices may be the target terminal device and two other anchor terminal devices (anchor terminal device 2 and anchor terminal device 3). In this case, it can also be understood that after receiving the second positioning configuration information, the first terminal device can inform the target terminal device and the existing anchor terminal devices of the second positioning configuration information.

[0165] Optionally, when the second terminal device is an anchor terminal device, the first terminal device may forward the second positioning configuration information through the target terminal device; or, the first terminal device may directly send the second positioning configuration information to the second terminal device through side dedicated signaling; or, the first terminal device may carry the second positioning configuration information in the broadcast so that the second terminal device receives the second positioning configuration information.

[0166] Optionally, if the second message indicates identification information of other available candidate anchor terminal devices, the target terminal device can select from existing anchor terminal devices and candidate anchor terminal devices indicated by the network device, and reselect a suitable anchor terminal device for side positioning.

[0167] Optionally, if the second message indicates that there are candidate positioning methods, the first terminal device may use one of the candidate positioning methods indicated by the network device to perform subsequent side positioning.

[0168] In step S1150, one or more second terminal devices send a response message to the third message to the first terminal device to confirm the configuration update.

[0169] In step S1160, the first terminal device sends a response message to the second message to the network device, confirming that the update of the first positioning configuration information is completed.

[0170] In step S1170, the first terminal device and the finally selected anchor terminal device perform a sideways positioning process according to the second positioning configuration information.

[0171] The method embodiment of the present application is described in detail above in conjunction with Figures 1 to 11. The device embodiment of the present application is described in detail below in conjunction with Figures 12 to 14. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment. Therefore, for parts not described in detail, reference can be made to the above method embodiment.

[0172] Figure 12 is a schematic diagram of the structure of an apparatus for side-by-side positioning provided by an embodiment of the present application. Apparatus 1200 shown in Figure 12 is configured on a first terminal device. The first terminal device is one of multiple terminal devices participating in side-by-side positioning, and the first terminal device is located within network coverage. Some or all of the multiple terminal devices, excluding the first terminal device, are located outside the network coverage. Apparatus 1200 in Figure 12 may include a first transmitting unit 1210.

[0173] The first sending unit 1210 can be used to send a first message to the network device, where the first message includes first positioning configuration information for sideline positioning.

[0174] Optionally, the multiple terminal devices include a target terminal device that performs a positioning operation and multiple anchor terminal devices, the first terminal device is the first anchor terminal device among the multiple anchor terminal devices, and the first positioning configuration information includes the positioning configuration information corresponding to the second anchor terminal device among the multiple anchor terminal devices.

[0175] Optionally, the positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the target terminal device; or, the positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the second anchor terminal device.

[0176] Optionally, the sending of the first message is triggered based on one or more of the following events: the network coverage status of the first terminal device is changed from outside the network coverage to within the network coverage; the value of the downlink path loss measured by the first terminal device is less than a first threshold.

[0177] Optionally, the apparatus 1200 further includes a first receiving unit 1220. The first receiving unit 1220 may be configured to receive a second message sent by the network device, where the second message is used to instruct the first terminal device whether to update the first positioning configuration information.

[0178] Optionally, the second message is used to instruct the first terminal device to continue using the first positioning configuration information.

[0179] Optionally, the second message includes one or more of the following information: second positioning configuration information for sidewalk positioning; identification information of a candidate anchor terminal device; and a candidate positioning method.

[0180] Optionally, the apparatus 1200 further includes: a second sending unit, configured to send a third message to one or more second terminal devices, wherein the third message is configured to instruct the one or more second terminal devices to perform side positioning based on the second positioning configuration information.

[0181] Optionally, the one or more second terminal devices include the candidate anchor terminal device; and / or the side positioning method adopted by the first terminal device and the one or more second terminal devices includes the candidate positioning method.

[0182] Optionally, the device 1200 also includes: a second receiving unit, used to receive a response message to the third message sent by the one or more second terminal devices, and the response message to the third message is used to indicate that the one or more second terminal devices confirm the use of the second positioning configuration information for side positioning.

[0183] Optionally, the multiple terminal devices include a target terminal device that performs a positioning operation and multiple anchor terminal devices. When the first terminal device is the first anchor terminal device among the multiple anchor terminal devices and the second terminal device is the second anchor terminal device among the multiple anchor terminal devices, the third message and / or the response message to the third message is transmitted via a side link between the first anchor terminal device and the target terminal device; or, the third message and / or the response message to the third message is transmitted via a side link between the first anchor terminal device and the second anchor terminal device.

[0184] Optionally, the apparatus 1200 further includes: a third sending unit, configured to send a response message to the second message to the network device, where the response message to the second message is used to indicate that the update of the first positioning configuration information has been completed.

[0185] Optionally, the first message further includes one or more of the following information: identification information of the multiple terminal devices; and positioning methods adopted by the multiple terminal devices.

[0186] Optionally, the first positioning configuration information includes configuration information of a sideline positioning reference signal.

[0187] FIG13 is a schematic diagram of the structure of an apparatus for sideways positioning provided by another embodiment of the present application. The apparatus 1300 shown in FIG13 is configured in a network device, such as a base station or a positioning device. The apparatus 1300 may include a first receiving unit 1310.

[0188] The first receiving unit 1310 can be used to receive a first message sent by a first terminal device, wherein the first message includes first positioning configuration information for side positioning; wherein the first terminal device is one of multiple terminal devices participating in the side positioning, and the first terminal device is located within the network coverage, and some or all of the multiple terminal devices except the first terminal device are located outside the network coverage.

[0189] Optionally, the multiple terminal devices include a target terminal device that performs a positioning operation and multiple anchor terminal devices, the first terminal device is the first anchor terminal device among the multiple anchor terminal devices, and the first positioning configuration information includes the positioning configuration information corresponding to the second anchor terminal device among the multiple anchor terminal devices.

[0190] Optionally, the positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the target terminal device; or, the positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the second anchor terminal device.

[0191] Optionally, the sending of the first message is triggered based on one or more of the following events: the network coverage status of the first terminal device is changed from outside the network coverage to within the network coverage; the value of the downlink path loss measured by the first terminal device is less than a first threshold.

[0192] Optionally, the apparatus 1300 further includes a first sending unit 1320. The first sending unit 1320 may be configured to send a second message to the first terminal device, where the second message is used to instruct the first terminal device whether to update the first positioning configuration information.

[0193] Optionally, the second message is used to instruct the first terminal device to continue using the first positioning configuration information.

[0194] Optionally, the second message includes one or more of the following information: second positioning configuration information for sidewalk positioning; identification information of a candidate anchor terminal device; and a candidate positioning method.

[0195] Optionally, the apparatus 1300 further includes: a second receiving unit, configured to receive a response message to the second message sent by the first terminal device, wherein the response message to the second message is used to indicate that the update of the first positioning configuration information has been completed.

[0196] Optionally, the first message further includes one or more of the following information: identification information of the multiple terminal devices; and positioning methods adopted by the multiple terminal devices.

[0197] Optionally, the first positioning configuration information includes configuration information of a sideline positioning reference signal.

[0198] Figure 14 is a schematic block diagram of a communication device according to an embodiment of the present application. The dashed lines in Figure 14 indicate that the unit or module is optional. Device 1400 may be used to implement the method described in the above method embodiment. Device 1400 may be a chip, a terminal device, or a network device.

[0199] The device 1400 may include one or more processors 1410. The processor 1410 may support the device 1400 to implement the method described in the method embodiment above. The processor 1410 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 another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0200] The apparatus 1400 may further include one or more memories 1420. The memories 1420 store programs that can be executed by the processor 1410, causing the processor 1410 to perform the methods described in the above method embodiments. The memories 1420 may be independent of the processor 1410 or integrated into the processor 1410.

[0201] The apparatus 1400 may further include a transceiver 1430. The processor 1410 may communicate with other devices or chips via the transceiver 1430. For example, the processor 1410 may transmit and receive data with other devices or chips via the transceiver 1430.

[0202] The present application also provides a computer-readable storage medium for storing a program. The computer-readable storage medium can be applied to a terminal or network device provided in the present application, and the program enables a computer to execute the method performed by the terminal or network device in each embodiment of the present application.

[0203] The present application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to a terminal or network device provided in the present application, and the program causes a computer to execute the method performed by the terminal or network device in each embodiment of the present application.

[0204] The embodiments of the present application also provide a computer program. The computer program can be applied to the terminal or network device provided in the embodiments of the present application, and the computer program enables a computer to execute the method performed by the terminal or network device in each embodiment of the present application.

[0205] It should be understood that the terms "system" and "network" in this application can be used interchangeably. In addition, the terms used in this application are only used to explain the specific embodiments of this application and are not intended to limit this application. The terms "first", "second", "third", and "fourth" in the specification and claims of this application and the accompanying drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0206] In the embodiments of this application, the term "indication" may refer to a direct indication, an indirect indication, or an indication of an association. For example, "A indicates B" may refer to a direct indication of B, e.g., B can obtain information through A; it may refer to an indirect indication of B, e.g., A indicates C, e.g., B can obtain information through C; or it may refer to an association between A and B.

[0207] In the embodiment of the present application, "B corresponding to A" means that B is associated with A and B can be determined based on A. However, it should be understood that determining B based on A does not mean determining B based solely on A, but B can also be determined based on A and / or other information.

[0208] In the embodiments of the present application, the term "corresponding" may indicate a direct or indirect correspondence between the two, or an association relationship between the two, or a relationship between indication and indication, configuration and configuration, etc.

[0209] In the embodiments of the present application, "pre-definition" or "pre-configuration" may be implemented by pre-storing corresponding codes, tables, or other methods that can be used to indicate relevant information in a device (e.g., a terminal device and a network device). The present application does not limit the specific implementation method. For example, pre-definition may refer to information defined in a protocol.

[0210] In the embodiments of the present application, the “protocol” may refer to a standard protocol in the communications field, for example, it may include an LTE protocol, an NR protocol, and related protocols used in future communication systems, and the present application does not limit this.

[0211] In the embodiments of this application, the term "and / or" is simply a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0212] In various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean 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 the present application.

[0213] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0214] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0215] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0216] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part 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, the process or function described in the embodiment of the present application is generated in whole or in part. 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 computer-readable storage medium. 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 a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be read by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0217] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for lateral positioning, characterized in that: include: The first terminal device sends a first message to the network device, where the first message includes first positioning configuration information for sideways positioning; The first terminal device is one of multiple terminal devices participating in the side positioning, and the first terminal device is located within the network coverage, and some or all of the multiple terminal devices except the first terminal device are located outside the network coverage.

2. The method according to claim 1, characterized in that The multiple terminal devices include a target terminal device that performs a positioning operation and multiple anchor terminal devices. The first terminal device is the first anchor terminal device among the multiple anchor terminal devices, and the first positioning configuration information includes the positioning configuration information corresponding to the second anchor terminal device among the multiple anchor terminal devices.

3. The method according to claim 2, characterized in that The positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the target terminal device; or, the positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the second anchor terminal device.

4. The method according to any one of claims 1 to 3, characterized in that The sending of the first message is triggered based on one or more of the following events: The network coverage status of the first terminal device is changed from being outside the network coverage area to being within the network coverage area; The downlink path loss value measured by the first terminal device is less than a first threshold.

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: The first terminal device receives a second message sent by the network device, where the second message is used to indicate whether the first terminal device updates the first positioning configuration information.

6. The method according to claim 5, characterized in that The second message is used to instruct the first terminal device to continue using the first positioning configuration information.

7. The method according to claim 5, characterized in that The second message includes one or more of the following information: Second positioning configuration information for sideways positioning; identification information of the candidate anchor terminal device; and Candidate positioning methods.

8. The method according to claim 7, characterized in that The method further comprises: The first terminal device sends a third message to one or more second terminal devices, where the third message is used to instruct the one or more second terminal devices to perform side positioning based on the second positioning configuration information.

9. The method according to claim 8, characterized in that The one or more second terminal devices include the candidate anchor terminal device; and / or the side positioning method adopted by the first terminal device and the one or more second terminal devices includes the candidate positioning method.

10. The method according to claim 8 or 9, characterized in that The method further comprises: The first terminal device receives a response message to the third message sent by the one or more second terminal devices, where the response message to the third message is used to indicate that the one or more second terminal devices confirm using the second positioning configuration information for side positioning.

11. The method according to any one of claims 8 to 10, characterized in that The multiple terminal devices include a target terminal device that performs a positioning operation and multiple anchor terminal devices. When the first terminal device is the first anchor terminal device among the multiple anchor terminal devices and the second terminal device is the second anchor terminal device among the multiple anchor terminal devices, the third message and / or the response message of the third message is transmitted via a side link between the first anchor terminal device and the target terminal device; or, the third message and / or the response message of the third message is transmitted via a side link between the first anchor terminal device and the second anchor terminal device.

12. The method according to any one of claims 8 to 11, characterized in that The method further comprises: The first terminal device sends a response message to the second message to the network device, where the response message to the second message is used to indicate that the update of the first positioning configuration information has been completed.

13. The method according to any one of claims 1 to 12, characterized in that The first message further includes one or more of the following information: identification information of the multiple terminal devices; The positioning methods adopted by the multiple terminal devices.

14. The method according to any one of claims 1 to 13, characterized in that The first positioning configuration information includes configuration information of a sideline positioning reference signal.

15. A method for lateral positioning, characterized in that: include: The network device receives a first message sent by the first terminal device, where the first message includes first positioning configuration information for sideways positioning; The first terminal device is one of multiple terminal devices participating in the side positioning, and the first terminal device is located within the network coverage, and some or all of the multiple terminal devices except the first terminal device are located outside the network coverage.

16. The method according to claim 15, characterized in that The multiple terminal devices include a target terminal device that performs a positioning operation and multiple anchor terminal devices. The first terminal device is the first anchor terminal device among the multiple anchor terminal devices, and the first positioning configuration information includes the positioning configuration information corresponding to the second anchor terminal device among the multiple anchor terminal devices.

17. The method according to claim 16, characterized in that The positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the target terminal device; or, the positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the second anchor terminal device.

18. The method according to any one of claims 15 to 17, characterized in that The sending of the first message is triggered based on one or more of the following events: The network coverage status of the first terminal device is changed from being outside the network coverage area to being within the network coverage area; The downlink path loss value measured by the first terminal device is less than a first threshold.

19. The method according to any one of claims 15 to 18, characterized in that The method further comprises: The network device sends a second message to the first terminal device, where the second message is used to indicate whether the first terminal device updates the first positioning configuration information.

20. The method according to claim 19, characterized in that The second message is used to instruct the first terminal device to continue using the first positioning configuration information.

21. The method according to claim 19, wherein The second message includes one or more of the following information: Second positioning configuration information for sideways positioning; identification information of the candidate anchor terminal device; and Candidate positioning methods.

22. The method according to claim 21, characterized in that The method further comprises: The network device receives a response message to the second message sent by the first terminal device, where the response message to the second message is used to indicate that the update of the first positioning configuration information has been completed.

23. The method according to any one of claims 15 to 22, characterized in that The first message also includes one or more of the following information: identification information of the multiple terminal devices; The positioning methods adopted by the multiple terminal devices.

24. The method according to any one of claims 15 to 23, characterized in that The first positioning configuration information includes configuration information of a sideline positioning reference signal.

25. A device for lateral positioning, characterized in that: The apparatus is configured in a first terminal device, and includes: A first sending unit, configured to send a first message to a network device, wherein the first message includes first positioning configuration information for sideways positioning; The first terminal device is one of multiple terminal devices participating in the side positioning, and the first terminal device is located within the network coverage, and some or all of the multiple terminal devices except the first terminal device are located outside the network coverage.

26. The device according to claim 25, characterized in that The multiple terminal devices include a target terminal device that performs a positioning operation and multiple anchor terminal devices. The first terminal device is the first anchor terminal device among the multiple anchor terminal devices, and the first positioning configuration information includes the positioning configuration information corresponding to the second anchor terminal device among the multiple anchor terminal devices.

27. The device according to claim 26, characterized in that The positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the target terminal device; or, the positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the second anchor terminal device.

28. The device according to any one of claims 25 to 27, characterized in that The sending of the first message is triggered based on one or more of the following events: The network coverage status of the first terminal device is changed from being outside the network coverage area to being within the network coverage area; The downlink path loss value measured by the first terminal device is less than a first threshold.

29. The device according to any one of claims 25 to 28, characterized in that The device further comprises: The first receiving unit is used to receive a second message sent by the network device, where the second message is used to indicate whether the first terminal device updates the first positioning configuration information.

30. The device according to claim 29, characterized in that The second message is used to instruct the first terminal device to continue using the first positioning configuration information.

31. The device according to claim 29, characterized in that The second message includes one or more of the following information: Second positioning configuration information for sideways positioning; identification information of the candidate anchor terminal device; and Candidate positioning methods.

32. The device according to claim 31, characterized in that The device further comprises: The second sending unit is used to send a third message to one or more second terminal devices, where the third message is used to instruct the one or more second terminal devices to perform side positioning based on the second positioning configuration information.

33. The device according to claim 32, characterized in that The one or more second terminal devices include the candidate anchor terminal device; and / or the side positioning method adopted by the first terminal device and the one or more second terminal devices includes the candidate positioning method.

34. The device according to claim 32 or 33, characterized in that The device further comprises: The second receiving unit is used to receive a response message to the third message sent by the one or more second terminal devices, where the response message to the third message is used to indicate that the one or more second terminal devices confirm the use of the second positioning configuration information for side positioning.

35. The device according to any one of claims 32 to 34, characterized in that The multiple terminal devices include a target terminal device that performs a positioning operation and multiple anchor terminal devices. When the first terminal device is the first anchor terminal device among the multiple anchor terminal devices and the second terminal device is the second anchor terminal device among the multiple anchor terminal devices, the third message and / or the response message of the third message is transmitted via a side link between the first anchor terminal device and the target terminal device; or, the third message and / or the response message of the third message is transmitted via a side link between the first anchor terminal device and the second anchor terminal device.

36. The device according to any one of claims 32 to 35, characterized in that The device further comprises: The third sending unit is used to send a response message of the second message to the network device, where the response message of the second message is used to indicate that the update of the first positioning configuration information has been completed.

37. The device according to any one of claims 25 to 36, characterized in that The first message also includes one or more of the following information: identification information of the multiple terminal devices; The positioning methods adopted by the multiple terminal devices.

38. The device according to any one of claims 25 to 37, characterized in that The first positioning configuration information includes configuration information of a sideline positioning reference signal.

39. A device for lateral positioning, characterized in that: The device is configured on a network device, and includes: A first receiving unit, configured to receive a first message sent by a first terminal device, where the first message includes first positioning configuration information for sideways positioning; The first terminal device is one of multiple terminal devices participating in the side positioning, and the first terminal device is located within the network coverage, and some or all of the multiple terminal devices except the first terminal device are located outside the network coverage.

40. The device according to claim 39, characterized in that The multiple terminal devices include a target terminal device that performs a positioning operation and multiple anchor terminal devices. The first terminal device is the first anchor terminal device among the multiple anchor terminal devices, and the first positioning configuration information includes the positioning configuration information corresponding to the second anchor terminal device among the multiple anchor terminal devices.

41. The device according to claim 40, characterized in that The positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the target terminal device; or, the positioning configuration information corresponding to the second anchor terminal device is obtained through the side link between the first anchor terminal device and the second anchor terminal device.

42. The device according to any one of claims 39 to 41, characterized in that The sending of the first message is triggered based on one or more of the following events: The network coverage status of the first terminal device is changed from being outside the network coverage area to being within the network coverage area; The downlink path loss value measured by the first terminal device is less than a first threshold.

43. The device according to any one of claims 39 to 42, characterized in that The device further comprises: The first sending unit is used to send a second message to the first terminal device, where the second message is used to indicate whether the first terminal device updates the first positioning configuration information.

44. The device according to claim 43, characterized in that The second message is used to instruct the first terminal device to continue using the first positioning configuration information.

45. The device according to claim 43, characterized in that The second message includes one or more of the following information: Second positioning configuration information for sideways positioning; identification information of the candidate anchor terminal device; and Candidate positioning methods.

46. ​​The device according to claim 45, characterized in that The device further comprises: The second receiving unit is used to receive a response message to the second message sent by the first terminal device, where the response message to the second message is used to indicate that the update of the first positioning configuration information has been completed.

47. The device according to any one of claims 39 to 46, characterized in that The first message further includes one or more of the following information: identification information of the multiple terminal devices; The positioning methods adopted by the multiple terminal devices.

48. The device according to any one of claims 39 to 47, characterized in that The first positioning configuration information includes configuration information of a sideline positioning reference signal.

49. A terminal device, characterized in that: The terminal device comprises a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory so that the terminal device executes the method according to any one of claims 1 to 14.

50. A network device, characterized in that: The network device comprises a memory and a processor, wherein the memory is used to store a program, and the processor is used to call the program in the memory so as to enable the network device to execute the method according to any one of claims 15 to 24.

51. A device, characterized in that The device comprises a processor configured to call a program from a memory so as to enable the device to execute the method according to any one of claims 1 to 24.

52. A chip, characterized in that: The device comprises a processor configured to call a program from a memory so that a device equipped with the chip executes the method according to any one of claims 1 to 24.

53. A computer-readable storage medium, characterized in that A program is stored thereon, the program causing a computer to execute the method according to any one of claims 1 to 24.

54. A computer program product, characterized in that The method comprises a program for causing a computer to execute the method according to any one of claims 1 to 24.

55. A computer program, characterized in that The computer program causes a computer to execute the method according to any one of claims 1 to 24.

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