Positioning reference signal transmission method, device and terminal

Abstract

The invention provides a transmission method and device of a positioning reference signal, and a terminal. The method is applied to a first terminal, and comprises: sending direct link control information SCI to a second terminal, the SCI being used for indicating a transmission resource of a positioning reference signal PRS sent by the first terminal, and / or whether the second terminal performs PRS transmission. According to the scheme of the invention, the first terminal indicates whether the second terminal carries out the PRS transmission in the SCI, so that the second terminal can determine whether to transmit the PRS to the first terminal according to the indication of the SCI.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a method, device and terminal for transmitting a positioning reference signal. Background Art

[0002] The current sidelink (SL) system does not support positioning technology. In order to support positioning in the SL system, it is necessary to introduce a reference signal for positioning, which is defined as the SL positioning reference signal (Sidelink Positioning Reference Signal, PRS). Taking RTT positioning as an example, the target terminal needs to send an SL PRS (sidelink positioning reference signal) to the anchor terminal and receive the SL PRS sent by the anchor terminal, and then calculate the distance between the target terminal and the anchor terminal based on the RTT.

[0003] At present, in a direct link system, how to transmit positioning reference signals between terminals to meet positioning requirements is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The purpose of the present application is to provide a method, device and terminal for transmitting a positioning reference signal, so as to solve the technical problem of how to transmit a positioning reference signal between terminals in a direct link system to meet the positioning requirements.

[0005] In a first aspect, in order to solve the above technical problem, an embodiment of the present application provides a transmission of a positioning reference signal, which is applied to a first terminal, including:

[0006] Sending sidelink control information (SCI) to the second terminal, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0007] In some embodiments, before sending the direct link control information SCI to the second terminal, the method further includes:

[0008] determining whether the second terminal performs PRS transmission according to at least one of the following:

[0009] the capability of the second terminal;

[0010] Network side configuration;

[0011] System preconfiguration.

[0012] In some embodiments, when the SCI indicates that the second terminal transmits a PRS, the method further includes:

[0013] Sending first information to the second terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS;

[0014] When the number information indicates at least one PRS transmission, at least one PRS transmitted by the second terminal according to the first information is received.

[0015] In some embodiments, the number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

[0016] In some embodiments, sending the first information to the second terminal includes:

[0017] Sending the first information to the second terminal through the SCI; or,

[0018] The first information is sent to the second terminal through high-layer signaling.

[0019] In some embodiments, when the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

[0020] In some embodiments, before sending the direct link control information SCI to the second terminal, the method further includes:

[0021] A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

[0022] In some embodiments, the identification information of the measurement object includes at least one of the following:

[0023] The source ID corresponding to the PRS;

[0024] The target ID corresponding to the PRS;

[0025] The ID of the terminal participating in positioning.

[0026] In some embodiments, after receiving the positioning request sent by the positioning service device, the method further includes:

[0027] Sending a first measurement result to the positioning service device;

[0028] The first measurement result carries at least one of the following information:

[0029] Bilateral RTT measurement order information;

[0030] Indication information of bilateral RTT positioning;

[0031] Indication information of one-way RTT positioning.

[0032] In a second aspect, in order to solve the above technical problem, an embodiment of the present application provides a method for transmitting a positioning reference signal, which is applied to a second terminal, including:

[0033] An SCI sent by a first terminal is received, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0034] In some embodiments, whether the second terminal performs PRS transmission is determined according to at least one of the following:

[0035] the capability of the second terminal;

[0036] Network side configuration;

[0037] System preconfiguration.

[0038] In some embodiments, when the SCI indicates that the second terminal transmits a PRS, the method further includes:

[0039] receiving first information sent by the first terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS;

[0040] When the number information indicates at least one PRS transmission, at least one PRS is transmitted to the first terminal according to the first information.

[0041] In some embodiments, the number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

[0042] In some embodiments, the receiving the first information sent by the first terminal includes:

[0043] receiving the first information sent by the first terminal through the SCI; or,

[0044] Receive the first information sent by the first terminal through high-layer signaling.

[0045] In some embodiments, when the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

[0046] In some embodiments, the above positioning reference signal transmission method further includes:

[0047] A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

[0048] In some embodiments, the identification information of the measurement object includes at least one of the following:

[0049] The source ID corresponding to the PRS;

[0050] The target ID corresponding to the PRS;

[0051] The ID of the terminal participating in positioning.

[0052] In some embodiments, after receiving the positioning request sent by the positioning service device, the above positioning reference signal transmission method further includes:

[0053] Sending a second measurement result to the positioning service device;

[0054] The second measurement result carries at least one of the following information:

[0055] Bilateral RTT measurement order information;

[0056] Indication information of bilateral RTT positioning;

[0057] Indication information of one-way RTT positioning.

[0058] In a third aspect, in order to solve the above technical problem, an embodiment of the present application provides a first terminal, including: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is used to read the program in the memory and execute the following process:

[0059] Sending direct link control information SCI to the second terminal, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0060] In some embodiments, the processor is further configured to read a program in a memory and execute the following process:

[0061] determining whether the second terminal performs PRS transmission according to at least one of the following:

[0062] the capability of the second terminal;

[0063] Network side configuration;

[0064] System preconfiguration.

[0065] In some embodiments, when the SCI instructs the second terminal to transmit the PRS, the processor is further configured to read a program in a memory and perform the following process:

[0066] Sending first information to the second terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS;

[0067] When the number information indicates at least one PRS transmission, at least one PRS transmitted by the second terminal according to the first information is received.

[0068] In some embodiments, the number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

[0069] In some embodiments, the processor is further configured to read a program in a memory and execute the following process:

[0070] Sending the first information to the second terminal through the SCI; or,

[0071] The first information is sent to the second terminal through high-layer signaling.

[0072] In some embodiments, when the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

[0073] In some embodiments, the processor is further configured to read a program in a memory and execute the following process:

[0074] A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

[0075] In some embodiments, the identification information of the measurement object includes at least one of the following:

[0076] The source ID corresponding to the PRS;

[0077] The target ID corresponding to the PRS;

[0078] The ID of the terminal participating in positioning.

[0079] In some embodiments, the processor is further configured to read a program in a memory and execute the following process:

[0080] Sending a first measurement result to the positioning service device;

[0081] The first measurement result carries at least one of the following information:

[0082] Bilateral RTT measurement order information;

[0083] Indication information of bilateral RTT positioning;

[0084] Indication information of one-way RTT positioning.

[0085] In a fourth aspect, in order to solve the above technical problem, an embodiment of the present application provides a second terminal, including: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is used to read the program in the memory and execute the following process:

[0086] An SCI sent by a first terminal is received, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0087] In some embodiments, whether the second terminal performs PRS transmission is determined according to at least one of the following:

[0088] the capability of the second terminal;

[0089] Network side configuration;

[0090] System preconfiguration.

[0091] In some embodiments, when the SCI instructs the second terminal to transmit the PRS, the processor is further configured to read a program in a memory and perform the following process:

[0092] receiving first information sent by the first terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS;

[0093] When the number information indicates at least one PRS transmission, at least one PRS is transmitted to the first terminal according to the first information.

[0094] In some embodiments, the number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

[0095] In some embodiments, the processor is further configured to read a program in a memory and execute the following process:

[0096] receiving the first information sent by the first terminal through the SCI; or,

[0097] Receive the first information sent by the first terminal through high-layer signaling.

[0098] Optionally, in a case where the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of a second-level SCI.

[0099] In some embodiments, the processor is further configured to read a program in a memory and execute the following process:

[0100] A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

[0101] In some embodiments, the identification information of the measurement object includes at least one of the following:

[0102] The source ID corresponding to the PRS;

[0103] The target ID corresponding to the PRS;

[0104] The ID of the terminal participating in positioning.

[0105] In some embodiments, the processor is further configured to read a program in a memory and execute the following process:

[0106] Sending a second measurement result to the positioning service device;

[0107] The second measurement result carries at least one of the following information:

[0108] Bilateral RTT measurement order information;

[0109] Indication information of bilateral RTT positioning;

[0110] Indication information of one-way RTT positioning.

[0111] In a fifth aspect, in order to solve the above technical problem, an embodiment of the present application provides a positioning reference signal transmission device, which is applied to a first terminal, including:

[0112] The first sending module is used to send direct link control information SCI to the second terminal, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0113] In a sixth aspect, in order to solve the above technical problem, an embodiment of the present application provides a positioning reference signal transmission device, which is applied to a second terminal, including:

[0114] The third receiving module is used to receive the SCI sent by the first terminal, where the SCI is used to indicate the transmission resource of the positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0115] In the seventh aspect, in order to solve the above-mentioned technical problems, an embodiment of the present application provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the positioning reference signal transmission method described in the first aspect or the second aspect.

[0116] The beneficial effects of the above technical solution of the present application are as follows:

[0117] In the above scheme, the first terminal sends direct link control information SCI to the second terminal, and indicates through SCI the transmission resource of the positioning reference signal PRS sent by the first terminal, and / or whether the second terminal transmits PRS. In this way, the second terminal can determine whether to transmit PRS to the first terminal according to the instruction of SCI, realize the triggering of PRS on the second terminal side, and meet different positioning requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0118] Figure 1 This is a schematic diagram of the positioning principle of the round trip time (RTT) of a single signal;

[0119] Figure 2 This is a schematic diagram of the bilateral RTT positioning principle;

[0120] Figure 3 This is one of the flowcharts of the method for transmitting a positioning reference signal according to an embodiment of the present application;

[0121] Figure 4 This is one of the interactive schematic diagrams of the unilateral RTT positioning solution of an embodiment of the present application;

[0122] Figure 5 This is one of the interactive schematic diagrams of the bilateral RTT positioning solution of an embodiment of the present application;

[0123] Figure 6 This is the second interactive schematic diagram of the bilateral RTT positioning solution of the embodiment of the present application;

[0124] Figure 7 This is the second interactive schematic diagram of the unilateral RTT positioning solution of the embodiment of the present application;

[0125] Figure 8 This is the third interactive schematic diagram of the bilateral RTT positioning solution of the embodiment of the present application;

[0126] Fig. 9 This is a second flowchart of the method for transmitting a positioning reference signal according to an embodiment of the present application;

[0127] Fig.10 This is one of the structural block diagrams of the transmission device of the positioning reference signal according to the embodiment of the present application;

[0128] Fig.11This is a second structural block diagram of the transmission device of the positioning reference signal according to an embodiment of the present application;

[0129] Fig.12 A schematic diagram of the hardware structure of the first terminal according to an embodiment of the present application;

[0130] Fig.13 This is a schematic diagram of the hardware structure of the second terminal according to an embodiment of the present application. DETAILED DESCRIPTION

[0131] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0132] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0133] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0134] The terminal device involved in the embodiment of the present application may be a device that provides voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called a user equipment (UE). The wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or a "cellular" phone) and a computer with a mobile terminal device. For example, it can be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges language and / or data with a wireless access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDA) and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, and a user device, but is not limited in the embodiments of the present application.

[0135] The network device involved in the embodiment of the present application may be a base station, which may include multiple cells providing services for the terminal. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in the access network that communicates with the wireless terminal device through one or more sectors on the air interface, or other names. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, and serve as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of the present application may be a network device (Base Transceiver Station, BTS) in the Global System for Mobile communications (Global System for Mobile communications, GSM) or Code Division Multiple Access (Code Division Multiple Access, CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolutionary network device (evolutional Node B, eNB or e-NodeB) in the long term evolution (long term evolution, LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), or a home evolved Node B (Home evolved Node B, HeNB), a relay node, a home base station (femto), a pico base station (pico), etc., which is not limited in the embodiments of the present application. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be arranged geographically separately.

[0136] The following first introduces the contents involved in the solution provided in the embodiment of the present application.

[0137] 5G New Radio Access Technology (NR) Uu port (communication interface between terminal and base station) supports multiple positioning technologies. Specifically, they mainly include:

[0138] Downlink positioning technology, including: NR downlink time difference of arrival (Downlink Time Difference of Arrival, DL-TDOA) and NR (Downlink Angle-of-Departure, DL-AoD).

[0139] Uplink positioning technology, including: NR uplink time difference of arrival (Uplink Time Difference of Arrival, UL-TDOA) and NR uplink angle of arrival (Uplink Angles of Arrival, UL-AoA).

[0140] Uplink and downlink hybrid positioning technology, including: NR multi-cell round-trip time positioning method (Multiple cell-RoundTrip Time, Multi-RTT).

[0141] Among them, NR Multi-RTT positioning technology uses the time difference between the arrival time of DL PRS from each TRP measured by UE and the time difference between the UE sending SRS-Pos (called UE Rx-Tx time difference) and the arrival time of SRS-Pos from UE measured by each TRP and the time difference between the TRP sending DL PRS (called gNB Rx-Tx time difference) to calculate the position. Figure 1 As shown in the figure, the round trip time (RTT) between the UE and a TRP is equal to the UE Rx-Tx time difference (t U Rx E -t U Tx E ), plus the gNB Rx-Tx time difference (t T R R x P -t T T R x P ), and the distance between the UE and the TRP can be obtained by multiplying 1 / 2RTT by the speed of light.

[0142] The specific positioning process of NR Multi-RTT is as follows:

[0143] On the UE side: The UE sends a channel sounding reference signal for positioning (SRS-Pos) according to the SRS-Pos configuration given by the serving base station. The UE also obtains the configuration information of the DL PRS sent by each surrounding TRP through the auxiliary data provided by the LMF. According to the DL PRS configuration information of each TRP, the UE receives the DL PRS sent by each TRP and obtains the arrival time of the DL PRS. Then, the UE obtains the UE Rx-Tx time difference based on the difference between the measured DL PRS arrival time and the time when the UE sends the SRS-Pos itself.

[0144] At each TRP: Each TRP obtains the configuration information of the SRS-Pos sent by the UE from the auxiliary data provided by the Location Management Function (LMF), and receives the SRS-Pos sent by the UE according to the SRS-Pos configuration information to obtain the arrival time of the SRS-Pos. Then each TRP measures the difference between the arrival time of the SRS-Pos and the time when it sends the DLPRS, and obtains the gNB Rx-Tx time difference.

[0145] The UE reports the obtained UE Rx-Tx time difference to the LMF, and each TRP also provides the obtained gNB Rx-Tx time difference to the LMF. The LMF uses the UE Rx-Tx time difference and the gNB Rx-Tx time difference to obtain the distance between the UE and each TRP. Then, other known information (for example, the geographic coordinates of the TRP) is added to calculate the UE's location.

[0146] In the above positioning process, DL PRS resources and SRS-Pos resources are configured by the network side.

[0147] The above uses unilateral RTT technology, while bilateral RTT technology can compensate for the clock drift on the sending and receiving sides, further improving positioning accuracy. Figure 2 In , a typical bilateral RTT technique is given, in which the sending side sends reference signals twice, for example, the sending side sends reference signal 1 and reference signal 3 respectively, and the receiving side sends a reference signal once, for example, the receiving side sends reference signal 2. The transmission time T from the sending side to the receiving side is expressed as:

[0148]

[0149] Among them, T roundA T is the time difference between the sending side sending reference signal 1 and receiving reference signal 2; roundB T is the time difference between the receiving side sending reference signal 2 and receiving reference signal 3;replyA is the time difference between the receiving side receiving reference signal 1 and sending reference signal 2; T replyB is the time difference between the transmitting side receiving reference signal 2 and sending reference signal 3.

[0150] In addition to the above transmission order of "send and receive", the transmission order of bilateral RTT technology can also be flexibly changed. For example, the order of "send, send and receive" can be adopted. The sending side can also send the reference signal only once, and the receiving side can send the reference signal twice.

[0151] Currently, positioning technology is not supported in the sidelink system. In order to support positioning in the sidelink system, it is necessary to introduce a reference signal for positioning, which is defined as SL PRS (sidelink positioning reference signal). Taking RTT positioning as an example, the target terminal needs to send SL PRS (sidelink positioning reference signal) to the anchor terminal and receive the SL PRS sent by the anchor terminal, and then calculate the distance between the target terminal and the anchor terminal based on RTT. In order to support positioning technology, the terminal needs to receive positioning request information, complete the transmission of SL PRS with other terminals through resource allocation, perform positioning measurements and finally report the measurement results. Since positioning technology is not yet supported in the sidelink system, there is no corresponding resource configuration and measurement reporting method.

[0152] Based on the above, the embodiments of the present application provide a method, device and terminal for transmitting a positioning reference signal, which are used to solve the technical problem of how to transmit a positioning reference signal between terminals in a direct link system to meet positioning requirements.

[0153] See also Figure 3 The embodiment of the present application provides a method for transmitting a positioning reference signal, which is applied to a first terminal and specifically includes the following steps:

[0154] Step 101: Send direct link control information SCI to a second terminal, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0155] In an application scenario example, if the first terminal determines to use unilateral RTT positioning, then after receiving the PRS sent by the second terminal, the first terminal determines that the second terminal does not need to send PRS again. Therefore, when the first terminal sends SCI to the second terminal, it uses SCI to instruct the second terminal not to transmit PRS.

[0156] In another application scenario example, after the first terminal receives the PRS sent by the second terminal, if the first terminal determines to use bilateral RTT positioning, it determines that the second terminal needs to send PRS again. Therefore, when the first terminal sends SCI to the second terminal, it uses SCI to instruct the second terminal to transmit PRS.

[0157] Optionally, the first terminal is one of a target terminal and an anchor terminal participating in positioning, and the second terminal is the other of the target terminal and the anchor terminal participating in positioning.

[0158] In this embodiment, the SCI indicates whether the second terminal performs PRS transmission, so that the SCI has a PRS triggering function, so that the first terminal can implement PRS triggering on the second terminal side, meeting positioning requirements in different scenarios.

[0159] In some embodiments, before the above step 101 sends the direct link control information SCI to the second terminal, the method for transmitting the positioning reference signal further includes:

[0160] determining whether the second terminal performs PRS transmission according to at least one of the following:

[0161] the capability of the second terminal;

[0162] Network side configuration;

[0163] System preconfiguration.

[0164] In some embodiments, when the SCI indicates that the second terminal transmits a PRS, the method for transmitting a positioning reference signal further includes:

[0165] Sending first information to the second terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS;

[0166] When the number information indicates at least one PRS transmission, at least one PRS transmitted by the second terminal according to the first information is received.

[0167] Optionally, the information about the number of times the second terminal transmits PRS includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

[0168] In an application scenario example, after receiving the PRS sent by the second terminal, if the first terminal determines to use bilateral RTT positioning, it is determined that the second terminal needs to send PRS again. Therefore, when the first terminal sends SCI to the second terminal, it uses SCI to instruct the second terminal to transmit PRS; after receiving the SCI, the second terminal determines that PRS transmission is required according to the SCI, and receives the PRS sent by the first terminal according to the SCI; further, the first terminal determines the number of PRS transmissions based on the acquired first information. For example, if the number of transmissions is 1 transmission, the second terminal transmits 1 PRS.

[0169] In this embodiment, the first terminal sends the first information to the second terminal, and indicates the number of times the second terminal transmits PRS through the first information, so that the first terminal can control the triggering of SL PRS on the second terminal side. In this way, the first terminal can determine the positioning method by itself to meet the positioning requirements in different scenarios. For example, if the first terminal determines to use unilateral RTT positioning according to the positioning requirements, when sending SCI to the second terminal, it can instruct the second terminal to send PRS once; if the first terminal determines to use bilateral RTT positioning according to the positioning requirements, when sending SCI to the second terminal, it can instruct the second terminal to send PRS twice, and the number here is an example; the number of times to instruct the opposite terminal to send PRS can be determined according to the actual situation, and other application times known to those skilled in the art can be applied here, and there is no limitation on this.

[0170] In some embodiments, in the above step 101, sending the first information to the second terminal includes:

[0171] Sending the first information to the second terminal through the SCI; or,

[0172] The first information is sent to the second terminal through high-layer signaling.

[0173] Optionally, when the transmission resources of the PRS belong to a shared resource pool, the first information is located in a target field of a second-level SCI; the target field is a request field located in the second-level SCI, and is used to carry the first information. The second terminal can determine the number of times the PRS is transmitted based on the target field.

[0174] Optionally, in the case that the transmission resource of the PRS belongs to a dedicated resource pool, the SCI has only one level, and the first information is located in the SCI of this level.

[0175] Optionally, the high-layer signaling includes at least one of the following: Radio Resource Control (RRC) signaling and Sidelink Positioning Protocol (SLPP).

[0176] In this embodiment, the first terminal sends the first information to the second terminal through SCI or high-layer signaling, so that the SCI and high-layer signaling have the triggering function of the PRS.

[0177] In some embodiments, before the above step 101 sends the direct link control information SCI to the second terminal, the method for transmitting the positioning reference signal further includes:

[0178] A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

[0179] Optionally, the identification information of the measurement object includes at least one of the following:

[0180] The source ID corresponding to the PRS;

[0181] The target ID corresponding to the PRS;

[0182] The ID of the terminal participating in positioning.

[0183] Here, the terminals participating in the positioning include a first terminal and a second terminal, the first terminal is one of the target terminal and the anchor terminal participating in the positioning, and the second terminal is the other of the target terminal and the anchor terminal participating in the positioning.

[0184] For example, when the first terminal sends a PRS to the second terminal, the source ID corresponding to the PRS is the ID of the first terminal, and the target ID corresponding to the PRS is the ID of the second terminal.

[0185] Optionally, the positioning service device includes: an LMF entity, or any terminal participating in positioning (such as the first terminal or the second terminal), or a third-party terminal not participating in positioning.

[0186] In this embodiment, by receiving a positioning request sent by a positioning service device and carrying identification information of the measurement object in the positioning request, the first terminal can determine whether it is the sender of the PRS based on the identification information of the measurement object, and can determine the receiver of the PRS to complete the PRS transmission.

[0187] In some embodiments, after receiving the positioning request sent by the positioning service device, the method further includes:

[0188] Sending a first measurement result to the positioning service device;

[0189] The first measurement result carries at least one of the following information:

[0190] Bilateral RTT measurement order information;

[0191] Indication information of bilateral RTT positioning;

[0192] Indication information of one-way RTT positioning.

[0193] Optionally, the bilateral RTT measurement sequence information includes one of the following:

[0194] First order: send PRS, receive PRS, send PRS;

[0195] Second order: send PRS, send PRS, receive PRS.

[0196] See also Fig. 9 The embodiment of the present application provides a method for transmitting a positioning reference signal, which is applied to a second terminal and includes the following steps:

[0197] Step 201: Receive an SCI sent by a first terminal, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0198] In an application scenario example, if the first terminal determines to use unilateral RTT positioning, then after receiving the PRS sent by the second terminal, the first terminal determines that the second terminal does not need to send PRS again. Therefore, when the first terminal sends SCI to the second terminal, it uses SCI to instruct the second terminal not to transmit PRS. After receiving the SCI, the second terminal only receives the PRS sent by the first terminal according to the SCI, and does not send PRS.

[0199] In another application scenario example, after the first terminal receives the PRS sent by the second terminal, if the first terminal determines to use bilateral RTT positioning, it is determined that the second terminal needs to send PRS again. Therefore, when the first terminal sends SCI to the second terminal, it uses SCI to instruct the second terminal to transmit PRS. After receiving the SCI, the second terminal receives the PRS sent by the first terminal according to the SCI and sends PRS at least once.

[0200] Optionally, whether the second terminal performs PRS transmission is determined according to at least one of the following:

[0201] the capability of the second terminal;

[0202] Network side configuration;

[0203] System preconfiguration.

[0204] In some embodiments, when the SCI indicates that the second terminal transmits a PRS, the method further includes:

[0205] Receive first information sent by the first terminal, where the first information is used to indicate the number of times the second terminal transmits PRS; when the number information indicates at least one PRS transmission, transmit at least one PRS to the first terminal according to the first information.

[0206] Optionally, the number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

[0207] In an application scenario example, after receiving the PRS sent by the second terminal, if the first terminal determines to use bilateral RTT positioning, it is determined that the second terminal needs to send PRS again. Therefore, when the first terminal sends SCI to the second terminal, it uses SCI to instruct the second terminal to transmit PRS; after receiving the SCI, the second terminal determines that PRS transmission is required according to the SCI, and receives the PRS sent by the first terminal according to the SCI; further, the first terminal determines the number of PRS transmissions based on the acquired first information. For example, if the number of transmissions is 1 transmission, the second terminal transmits 1 PRS.

[0208] In this embodiment, the first terminal sends the first information to the second terminal, and indicates the number of times the second terminal transmits PRS through the first information, so that the first terminal can control the triggering of SL PRS on the second terminal side. In this way, the first terminal can determine the positioning method by itself to meet the positioning requirements in different scenarios. For example, if the first terminal determines to use unilateral RTT positioning according to the positioning requirements, when sending SCI to the second terminal, it can instruct the second terminal to send PRS once; if the first terminal determines to use bilateral RTT positioning according to the positioning requirements, when sending SCI to the second terminal, it can instruct the second terminal to send PRS twice.

[0209] In some embodiments, the receiving the first information sent by the first terminal includes:

[0210] receiving the first information sent by the first terminal through the SCI; or,

[0211] Receive the first information sent by the first terminal through high-layer signaling.

[0212] Optionally, when the transmission resources of the PRS belong to a shared resource pool, the first information is located in a target field of a second-level SCI; when the transmission resources of the PRS belong to a dedicated resource pool, there is only one level of SCI, and the first information is located in the SCI of that level.

[0213] Optionally, the high-layer signaling includes at least one of the following: Radio Resource Control (RRC) signaling and Sidelink Positioning Protocol (SLPP).

[0214] In this embodiment, the first terminal sends the first information to the second terminal through SCI or high-layer signaling, so that the SCI and high-layer signaling have the triggering function of the PRS.

[0215] In some embodiments, the above positioning reference signal transmission method further includes:

[0216] A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

[0217] Optionally, the identification information of the measurement object includes at least one of the following:

[0218] The source ID corresponding to the PRS;

[0219] The target ID corresponding to the PRS;

[0220] The ID of the terminal participating in positioning.

[0221] Here, the terminals participating in the positioning include a first terminal and a second terminal, the first terminal is one of the target terminal and the anchor terminal participating in the positioning, and the second terminal is the other of the target terminal and the anchor terminal participating in the positioning.

[0222] For example, when the second terminal sends a PRS to the first terminal, the source ID corresponding to the PRS is the ID of the second terminal, and the target ID corresponding to the PRS is the ID of the first terminal.

[0223] Optionally, the positioning service device includes: an LMF entity, or any terminal participating in positioning (such as the first terminal or the second terminal), or a third-party terminal not participating in positioning.

[0224] In this embodiment, by receiving a positioning request sent by a positioning service device and carrying identification information of the measurement object in the positioning request, the second terminal can determine whether it is the sender of the PRS based on the identification information of the measurement object, and can determine the receiver of the PRS to complete the PRS transmission.

[0225] In some embodiments, after receiving the positioning request sent by the positioning service device, the method further includes:

[0226] Sending a second measurement result to the positioning service device;

[0227] The second measurement result carries at least one of the following information:

[0228] Bilateral RTT measurement order information;

[0229] Indication information of bilateral RTT positioning;

[0230] Indication information of one-way RTT positioning.

[0231] Optionally, the bilateral RTT measurement sequence information includes one of the following:

[0232] First order: send PRS, receive PRS, send PRS;

[0233] Second order: send PRS, send PRS, receive PRS.

[0234] The following describes the method for transmitting a positioning reference signal provided by the present application through a specific application example.

[0235] Example 1: One-way RTT positioning application scenario

[0236] See also Figure 4 , which shows an interactive schematic diagram of a unilateral SL RTT positioning method in an application scenario where the first terminal and the second terminal are outside the network coverage. The first terminal is one of the target terminal and the anchor terminal participating in the positioning, and the second terminal is the other of the target terminal and the anchor terminal participating in the positioning.

[0237] like Figure 4 In the method for transmitting a positioning reference signal, the method may include the following steps:

[0238] Step 1: The server terminal (Server UE) sends a positioning request message (RequestLocationInformation) to the target terminal and the anchor terminal respectively.

[0239] The positioning request message includes: indication information requesting the terminal to report the SL Rx-Tx time difference measurement. Optionally, the positioning request message also includes: identification information of the measurement object. That is, the positioning request message sent to the target terminal includes the ID information of the anchor terminal; the positioning request message sent to the anchor terminal includes the ID information of the target terminal.

[0240] Step 2: For the dedicated resource pool, the target terminal sends SCI signaling 1 to the anchor terminal, and sends SL PRS resource 1 scheduled by the SCI signaling 1 to the anchor terminal.

[0241] The SCI signaling 1 includes a SL PRS request field for indicating the first information. Assuming that the SL PRS request field indicates one SL PRS transmission, the target terminal requests the anchor terminal to send a SL PRS resource.

[0242] For the shared resource pool, the SCI includes two levels. The SL PRS request field is located in the second-level SCI, and the second-level SCI is transmitted by the PSSCH.

[0243] Step 3: After receiving SCI signaling 1, the anchor terminal measures the scheduled SL PRS resource 1 and determines to transmit 1 SL PRS according to the SL PRS request field indication of the SCI signaling 1.

[0244] Step 4: The anchor terminal sends SCI signaling 2 to the target terminal, and sends SL PRS resource 2 scheduled by the SCI signaling 2 to the target terminal (transmitted once).

[0245] The SL PRS request field in the SCI signaling 2 indicates 0, indicating that SL PRS transmission is not requested.

[0246] Step 5: The anchor terminal determines the SL Rx-Tx time difference based on receiving SL PRS resource 1 and sending SL PRS resource 2, and reports the SL Rx-Tx time difference to the serving terminal.

[0247] Step six: the target terminal receives the SCI signaling 2 and the SL PRS resource 2 scheduled by the anchor terminal; determines that there is no subsequent SL PRS resource transmission according to the SL PRS request field indication in the SCI signaling 2; and determines the SL Rx-Tx time difference according to the reception of SL PRS resource 2 and the transmission of SL PRS resource 1, and reports the SL Rx-Tx time difference to the service terminal.

[0248] Step 6: The service terminal receives the SL Rx-Tx time difference reported by the target terminal and the SLRx-Tx time difference reported by the anchor terminal; the service terminal determines the SL RTT based on the SL Rx-Tx time difference reported by the target terminal and the anchor terminal; and performs positioning solution based on the SL RTT to obtain the relative position of the target terminal and the anchor terminal.

[0249] Optionally, the service terminal is the target terminal.

[0250] It should be noted that in the above example 1, the target terminal and the anchor terminal each report an SL Rx-Tx time difference, which belongs to a unilateral RTT positioning method.

[0251] Example 2: Bilateral RTT positioning application scenario

[0252] See also Figure 5, which shows an interactive schematic diagram of using a bilateral SL RTT positioning method in an application scenario where the first terminal and the second terminal are outside the network coverage. The first terminal is one of the target terminal and the anchor terminal participating in the positioning, and the second terminal is the other of the target terminal and the anchor terminal participating in the positioning.

[0253] like Figure 5 In the method for transmitting a positioning reference signal, the method may include the following steps:

[0254] Step 1: The server terminal (Server UE) sends a positioning request message (RequestLocationInformation) to the target terminal and the anchor terminal respectively.

[0255] The positioning request message includes: indication information requesting the terminal to report the SL Rx-Tx time difference measurement. Optionally, the positioning request message also includes: identification information of the measurement object. That is, the positioning request message sent to the target terminal includes the ID information of the anchor terminal; the positioning request message sent to the anchor terminal includes the ID information of the target terminal.

[0256] Step 2: For the dedicated resource pool, the target terminal sends SCI signaling 1 to the anchor terminal, and sends SL PRS resource 1 scheduled by the SCI signaling 1 to the anchor terminal.

[0257] The SCI signaling 1 includes a SL PRS request field for indicating the first information. Assuming that the SL PRS request field indicates one SL PRS transmission, the target terminal requests the anchor terminal to send a SL PRS resource.

[0258] For the shared resource pool, the SCI includes two levels. The SL PRS request field is located in the second-level SCI, and the second-level SCI is transmitted by the PSSCH.

[0259] Step three, after receiving SCI signaling 1, the anchor terminal measures the SL PRS resource 1 scheduled by it. And according to the SL PRS request field indication of this SCI signaling 1, it determines to transmit 1 SL PRS. Assuming that the anchor terminal determines, based on the result of SL PRS resource allocation, that the time interval between its SL PRS resource transmission and the reception of SL PRS resource 1 is large, resulting in the influence of clock drift that cannot be ignored, the anchor terminal determines to adopt the bilateral RTT method to reduce the influence of this clock drift on positioning accuracy. Therefore, the anchor terminal sends SCI signaling 2 to the target terminal, and sends the SL PRS resource 2 (transmitted once) scheduled by this SCI signaling 2 to the target terminal; wherein the SL PRS request field in SCI signaling 2 indicates 1 SL PRS transmission.

[0260] Step 4: The target terminal receives the SCI signaling 2 and the SL PRS resource 2 scheduled by the anchor terminal; according to the SL PRS request field indication in the SCI signaling 2, it determines to send the SCI signaling 3 and the SL PRS resource 3 scheduled by it to the anchor terminal; wherein the SL PRS request field indication of this SCI signaling 3 is 0, indicating that SL PRS transmission is not requested.

[0261] Step 5: The target terminal determines two SL Rx-Tx time differences according to the reception of SL PRS resource 2, the transmission of SL PRS resource 1 and the transmission of SL PRS resource 3, and reports the two SL Rx-Tx time differences to the service terminal.

[0262] Step 6: After receiving the SCI signaling 3 sent by the target terminal, the anchor terminal measures the SL PRS resource 3 scheduled by it, and determines the two SLRx-Tx time differences based on the sending of SL PRS resource 2, the receiving of SL PRS resource 1 and the receiving of SL PRS resource 3, and reports the two SL Rx-Tx time differences to the service terminal.

[0263] Optionally, the target terminal and / or the anchor terminal also reports the transmission order of the three SL PRS resources to the positioning server. For example, the target terminal reports a "send and receive" order indication.

[0264] Step 7: The service terminal determines the SL RTT based on the SL Rx-Tx time difference reported by the target terminal and the anchor terminal, and the transmission order of the SL PRS resources; performs positioning calculation based on the SL RTT to obtain the relative position of the target terminal and the anchor terminal.

[0265] In the above example 2, the target terminal and the anchor terminal each report two SL Rx-Tx time differences, which belongs to the bilateral RTT positioning method.

[0266] Example 3: Bilateral RTT positioning application scenario

[0267] See also Figure 6 , which shows an interactive schematic diagram of using a bilateral SL RTT positioning method in an application scenario where the first terminal and the second terminal are outside the network coverage. The first terminal is one of the target terminal and the anchor terminal participating in the positioning, and the second terminal is the other of the target terminal and the anchor terminal participating in the positioning.

[0268] like Figure 6 In the method for transmitting a positioning reference signal, the method may include the following steps:

[0269] Step 1: The server terminal (Server UE) sends a positioning request message (RequestLocationInformation) to the target terminal and the anchor terminal respectively.

[0270] The positioning request message includes: indication information requesting the terminal to report the SL Rx-Tx time difference measurement. Optionally, the positioning request message also includes: identification information of the measurement object. That is, the positioning request message sent to the target terminal includes the ID information of the anchor terminal; the positioning request message sent to the anchor terminal includes the ID information of the target terminal.

[0271] Step 2: For the dedicated resource pool, the target terminal sends SCI signaling 1 to the anchor terminal, and sends SL PRS resource 1 scheduled by the SCI signaling 1 to the anchor terminal.

[0272] The SCI signaling 1 includes a SL PRS request field for indicating first information. Assuming that the SL PRS request field indicates two SL PRS transmissions, the target terminal requests the anchor terminal to send two SL PRS resources for bilateral RTT positioning.

[0273] Optionally, for a shared resource pool, the SCI includes two levels, and the SL PRS request field is located in the second-level SCI, and the second-level SCI is transmitted by carrying the PSSCH.

[0274] Step 3: After receiving SCI signaling 1, the anchor terminal measures the scheduled SL PRS resource 1 and determines to transmit SL PRS twice according to the SL PRS request field indication of the SCI signaling 1.

[0275] Step 4: The anchor terminal sends SCI signaling 2 to the target terminal, and sends SL PRS resource 2 and SL PRS resource 3 scheduled by this SCI signaling 2 to the target terminal; wherein the SL PRS request field in SCI signaling 2 indicates 0, indicating that SLPRS transmission is not requested.

[0276] In this way, the anchor terminal determines two SL Rx-Tx time differences according to receiving SL PRS resource 1, sending SL PRS resource 2 and sending SL PRS resource 3, and reports the two SL Rx-Tx time differences to the serving terminal.

[0277] Step 5: The target terminal receives the SCI signaling 2 and the SL PRS resource 2 and SLPRS resource 3 scheduled by the anchor terminal; and determines that there is no subsequent SL PRS resource transmission according to the SL PRS request field indication in the SCI signaling 2.

[0278] Step 6: The target terminal determines two SL Rx-Tx time differences according to the reception of SL PRS resource 2 and SL PRS resource 3 and the transmission of SL PRS resource 1, and reports the two SL Rx-Tx time differences to the service terminal.

[0279] Optionally, the target terminal and / or the anchor terminal further reports the transmission order of the three SL PRS resources to the positioning server. For example, the target terminal reports a "send, receive, receive" order indication.

[0280] Step 7: The service terminal receives the SL Rx-Tx time difference reported by the target terminal and the SLRx-Tx time difference reported by the anchor terminal, as well as the transmission order of the SL PRS resources, determines the SL RTT, performs positioning solution, and obtains the relative position of the target terminal and the anchor terminal.

[0281] In the above example 3, the target terminal and the anchor terminal each report two SL Rx-Tx time differences, which belongs to the bilateral RTT positioning method.

[0282] Optionally, in another implementation, the anchor terminal sends SCI signaling 2 and SCI signaling 3 to the target terminal, and sends SL PRS resource 2 scheduled by SCI signaling 2 and SL PRS resource 3 scheduled by SCI signaling 3 to the target terminal; wherein the SL PRS request field in SCI signaling 2 and the SL PRS request field in SCI signaling 3 both indicate 0, indicating that SL PRS transmission is not requested.

[0283] Example 4: One-way RTT positioning application scenario

[0284] See also Figure 7 , which shows an interactive schematic diagram of a unilateral SL RTT positioning method in an application scenario where the first terminal and the second terminal are within network coverage. The first terminal is one of the target terminal and the anchor terminal participating in positioning, and the second terminal is the other of the target terminal and the anchor terminal participating in positioning.

[0285] like Figure 7 In the method for transmitting a positioning reference signal, the method may include the following steps:

[0286] Step 1: The server terminal (Server UE) sends a positioning request message (RequestLocationInformation) to the target terminal and the anchor terminal respectively.

[0287] The positioning request message includes: indication information requesting the terminal to report the SL Rx-Tx time difference measurement. Optionally, the positioning request message also includes: identification information of the measurement object. That is, the positioning request message sent to the target terminal includes the ID information of the anchor terminal; the positioning request message sent to the anchor terminal includes the ID information of the target terminal.

[0288] Step 2: The target terminal's serving base station and the anchor terminal's serving base station ( Figure 7 (The same assumption is made in the example) Through DCI signaling, the SL PRS resources used by each terminal are indicated. Here, it is assumed that the target terminal and the anchor terminal both indicate one SLPRS resource transmission.

[0289] Step 3: After receiving the DCI signaling sent by the serving base station, the target terminal sends SCI signaling 1 to the anchor terminal, and sends SL PRS resource 1 scheduled by the SCI signaling 1 to the anchor terminal. The SL PRS resource 1 is the resource indicated by the serving base station through DCI.

[0290] Furthermore, the SCI signaling 1 includes a SL PRS request field for indicating the first information, and the SL PRS request field indicates 0, indicating that the SL PRS transmission of the anchor terminal is not required.

[0291] Step 4: After receiving the SCI signaling 1 sent by the target terminal, the anchor terminal measures the SL PRS resource 1 scheduled by the target terminal; and according to the SL PRS request field indication of the SCI signaling 1, determines that the SL PRS does not need to be transmitted.

[0292] Similarly, after receiving the DCI signaling sent by the target terminal, the anchor terminal sends SCI signaling 2 to the target terminal, and sends SL PRS resource 2 scheduled by the SCI signaling 2 to the target terminal. The SL PRS resource 2 is the resource indicated by the serving base station through DCI.

[0293] The SL PRS request field in the SCI signaling 2 indicates 0, indicating that SL PRS transmission of the target terminal is not required.

[0294] Step 5: The target terminal receives the SCI signaling 2 and the SL PRS resource 2 scheduled by the anchor terminal; and determines that the SL PRS does not need to be transmitted according to the SL PRS request field indication in the SCI signaling 2.

[0295] Step 6: The target terminal determines the SL Rx-Tx time difference according to the reception of SL PRS resource 2 and the transmission of SL PRS resource 1; and reports the SL Rx-Tx time difference to the service terminal.

[0296] Step 7: The anchor terminal determines the SL Rx-Tx time difference according to the sending of SL PRS resource 2 and the receiving of SL PRS resource 1, and reports the SL Rx-Tx time difference to the serving terminal.

[0297] Step 8: The positioning server determines the SL RTT based on the SL Rx-Tx time difference reported by the target terminal and the anchor terminal; performs positioning solution based on the SL RTT to obtain the relative position of the target terminal and the anchor terminal.

[0298] Example 5: Bilateral RTT positioning application scenario

[0299] See also Figure 8 , which shows an interactive schematic diagram of using a bilateral SL RTT positioning method in an application scenario where the first terminal and the second terminal are within network coverage. The first terminal is one of the target terminal and the anchor terminal participating in positioning, and the second terminal is the other of the target terminal and the anchor terminal participating in positioning.

[0300] like Figure 8 In the method for transmitting a positioning reference signal, the method may include the following steps:

[0301] Step 1: The server terminal (Server UE) sends a positioning request message (RequestLocationInformation) to the target terminal and the anchor terminal respectively.

[0302] The positioning request message includes: indication information requesting the terminal to report the SL Rx-Tx time difference measurement. Optionally, the positioning request message also includes: identification information of the measurement object. That is, the positioning request message sent to the target terminal includes the ID information of the anchor terminal; the positioning request message sent to the anchor terminal includes the ID information of the target terminal.

[0303] Step 2: The target terminal's serving base station and the anchor terminal's serving base station ( Figure 8 (The same assumption is made in the example) Through DCI signaling, the SL PRS resources used by each terminal are indicated. Here, it is assumed that the target terminal and the anchor terminal both indicate one SLPRS resource transmission.

[0304] Step 3: After receiving the DCI signaling sent by the serving base station, the target terminal sends SCI signaling 1 to the anchor terminal, and sends SL PRS resource 1 scheduled by the SCI signaling 1 to the anchor terminal. The SL PRS resource 1 is the resource indicated by the serving base station through DCI.

[0305] The SCI signaling 1 includes a SL PRS request field, and the SL PRS request field indicates 0, indicating that the SL PRS transmission of the anchor terminal is not required.

[0306] Step 4: After receiving the SCI signaling 1 sent by the serving base station, the anchor terminal measures the SL PRS resource 1 scheduled by it, and determines that the SL PRS does not need to be transmitted according to the SL PRS request field indication of the SCI signaling 1.

[0307] Step 5: After receiving the DCI signaling sent by the serving base station, the anchor terminal sends SCI signaling 2 to the target terminal, and sends SL PRS resource 2 scheduled by the SCI signaling 2 to the target terminal. The SL PRS resource 2 is the resource indicated by the serving base station through DCI.

[0308] Among them, the anchor terminal determines that clock drift has an impact based on the time interval between SL PRS resource 1 and SL PRS resource 2, and needs to use bilateral RTT positioning; among them, the SL PRS request field in SCI signaling 2 indicates 1, requesting the target terminal to perform one SL PRS transmission.

[0309] Step six, the target terminal receives the SCI signaling 2 and the SL PRS resource 2 scheduled by it sent by the anchor terminal; according to the SL PRS request field indication in the SCI signaling 2, it determines to send SCI signaling 3 and the SL PRS resource 3 scheduled by it to the anchor terminal; wherein the SL PRS request field indication of this SCI signaling 3 is 0, indicating that SL PRS transmission is not requested.

[0310] Step 7: The target terminal determines two SL Rx-Tx time differences according to the reception of SL PRS resource 2, the transmission of SL PRS resource 1 and the transmission of SL PRS resource 3; and reports the two SL Rx-Tx time differences to the service terminal.

[0311] Step 8: After receiving SCI signaling 3, the anchor terminal measures the scheduled SL PRS resource 3, and determines the two SL Rx-Tx time differences based on the sending of SL PRS resource 2, the receiving of SL PRS resource 1 and the receiving of SL PRS resource 3; and reports the two SL Rx-Tx time differences to the service terminal.

[0312] Optionally, the target terminal and / or the anchor terminal also reports the transmission order of the three SL PRS resources to the positioning server. For example, the target terminal reports a "send and receive" order indication.

[0313] Step 9: The positioning server determines the SL RTT based on the SL Rx-Tx time difference reported by the target terminal and the anchor terminal, and the transmission order of the SL PRS resources; performs positioning solution based on the SL RTT to obtain the relative position of the target terminal and the anchor terminal.

[0314] In the above examples 1 to 5, by introducing the SL PRS request field in the SCI, other terminals are requested to perform SLPRS resource transmission. It should be noted that other terminals can also be requested to perform SL PRS resource transmission through high-level signaling. In the case of requesting other terminals to perform PRS transmission by using high-level signaling, the SCI may include the SL PRS request field, or may not include the SL PRS request field. Similar to the above examples 1 to 5, other terminals can be requested not to trigger SL PRS resource transmission, or to perform 1 SL PRS resource transmission, or to perform 2 SL PRS resource transmissions through high-level signaling (such as RRC, SLPP and other signaling). Similar processes can be found in the above examples 1 to 5, which will not be repeated here.

[0315] See also Fig.10 The embodiment of the present application provides a positioning reference signal transmission device 1000, which is applied to a first terminal and includes:

[0316] The first sending module 1001 is used to send direct link control information SCI to the second terminal, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0317] In some embodiments, the apparatus 1000 further comprises:

[0318] A first determining module is configured to determine whether the second terminal performs PRS transmission according to at least one of the following:

[0319] the capability of the second terminal;

[0320] Network side configuration;

[0321] System preconfiguration.

[0322] In some embodiments, when the SCI instructs the second terminal to transmit the PRS, the apparatus 1000 further includes:

[0323] A second sending module, configured to send first information to the second terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS;

[0324] The first receiving module is configured to receive, when the number information indicates at least one PRS transmission, at least one PRS transmitted by the second terminal according to the first information.

[0325] In some embodiments, the number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

[0326] In some embodiments, the second sending module includes:

[0327] A first sending submodule is configured to send the first information to the second terminal via the SCI; or,

[0328] The second sending submodule is used to send the first information to the second terminal through high-layer signaling.

[0329] In some embodiments, when the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

[0330] In some embodiments, the apparatus 1000 further comprises:

[0331] The second receiving module is used to receive a positioning request sent by a positioning service device, where the positioning request carries identification information of a measurement object.

[0332] In some embodiments, the identification information of the measurement object includes at least one of the following:

[0333] The source ID corresponding to the PRS;

[0334] The target ID corresponding to the PRS;

[0335] The ID of the terminal participating in positioning.

[0336] In some embodiments, the apparatus 1000 further comprises:

[0337] A third sending module, configured to send the first measurement result to the positioning service device;

[0338] The first measurement result carries at least one of the following information:

[0339] Bilateral RTT measurement order information;

[0340] Indication information of bilateral RTT positioning;

[0341] Indication information of one-way RTT positioning.

[0342] It should be noted here that the above-mentioned device 1000 provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment on the above-mentioned first terminal side, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0343] See also Fig.11 The embodiment of the present application provides a positioning reference signal transmission device 1100, which is applied to a second terminal and includes:

[0344] The third receiving module 1101 is used to receive the SCI sent by the first terminal, where the SCI is used to indicate the transmission resource of the positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0345] In some embodiments, whether the second terminal performs PRS transmission is determined according to at least one of the following:

[0346] the capability of the second terminal;

[0347] Network side configuration;

[0348] System preconfiguration.

[0349] In some embodiments, when the SCI indicates that the second terminal transmits the PRS, the apparatus 1100 further includes:

[0350] A fourth receiving module, configured to receive first information sent by the first terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS;

[0351] The fourth sending module is used to transmit at least one PRS to the first terminal according to the first information when the number information indicates at least one PRS transmission.

[0352] In some embodiments, the number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

[0353] In some embodiments, the fourth receiving module includes:

[0354] A first receiving submodule is configured to receive the first information sent by the first terminal via the SCI; or,

[0355] The second receiving submodule is used to receive the first information sent by the first terminal through high-layer signaling.

[0356] In some embodiments, when the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

[0357] In some embodiments, the apparatus 1100 further includes:

[0358] The fifth receiving module is used to receive a positioning request sent by a positioning service device, where the positioning request carries identification information of the measurement object.

[0359] In some embodiments, the identification information of the measurement object includes at least one of the following:

[0360] The source ID corresponding to the PRS;

[0361] The target ID corresponding to the PRS;

[0362] The ID of the terminal participating in positioning.

[0363] In some embodiments, the apparatus 1100 further includes:

[0364] A fifth sending module, configured to send a second measurement result to the positioning service device;

[0365] The second measurement result carries at least one of the following information:

[0366] Bilateral RTT measurement order information;

[0367] Indication information of bilateral RTT positioning;

[0368] Indication information of one-way RTT positioning.

[0369] It should be noted here that the above-mentioned device 1100 provided in the embodiment of the present application can implement all the method steps implemented by the method embodiment on the above-mentioned second terminal side, and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0370] See also Fig.12 , the embodiment of the present application provides a first terminal, including: a processor 1210; and a memory 1220 connected to the processor 1210 through a bus interface, the memory 1220 is used to store programs and data used by the processor 1210 when performing operations, and the processor 1210 calls and executes the programs and data stored in the memory 1220. Among them, the transceiver 1200 is connected to the bus interface, and is used to receive and send data under the control of the processor 1210; the processor 1210 is used to read the program in the memory 1220 and perform the following processes:

[0371] Sending direct link control information SCI to the second terminal, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0372] Among them, Fig.12In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 1210 and various circuits of memory represented by memory 1220 are linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1200 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, including wireless channels, wired channels, optical cables, and other transmission media. For different user devices, the user interface 1230 may also be an interface capable of externally and internally connecting required devices, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0373] The processor 1210 is responsible for managing the bus architecture and general processing, and the memory 1220 can store data used by the processor 1210 when performing operations.

[0374] In some embodiments, the processor 1210 is further configured to read a program in the memory 1220 and execute the following process:

[0375] determining whether the second terminal performs PRS transmission according to at least one of the following:

[0376] the capability of the second terminal;

[0377] Network side configuration;

[0378] System preconfiguration.

[0379] In some embodiments, when the SCI indicates that the second terminal performs PRS transmission, the processor 1210 is further configured to read a program in the memory 1220 and perform the following process:

[0380] Sending first information to the second terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS;

[0381] When the number information indicates at least one PRS transmission, at least one PRS transmitted by the second terminal according to the first information is received.

[0382] In some embodiments, the number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

[0383] In some embodiments, the processor 1210 is further configured to read a program in the memory 1220 and execute the following process:

[0384] Sending the first information to the second terminal through the SCI; or,

[0385] The first information is sent to the second terminal through high-layer signaling.

[0386] In some embodiments, when the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

[0387] In some embodiments, the processor 1210 is further configured to read a program in the memory 1220 and execute the following process:

[0388] A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

[0389] In some embodiments, the identification information of the measurement object includes at least one of the following:

[0390] The source ID corresponding to the PRS;

[0391] The target ID corresponding to the PRS;

[0392] The ID of the terminal participating in positioning.

[0393] In some embodiments, the processor 1210 is further configured to read a program in the memory 1220 and execute the following process:

[0394] Sending a first measurement result to the positioning service device;

[0395] The first measurement result carries at least one of the following information:

[0396] Bilateral RTT measurement order information;

[0397] Indication information of bilateral RTT positioning;

[0398] Indication information of one-way RTT positioning.

[0399] In some embodiments, the processor 1210 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0400] The processor calls the computer program stored in the memory to execute any of the methods provided in the embodiments of the present application according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0401] See also Fig.13 An embodiment of the present application provides a second terminal, including: a processor 1310; and a memory 1320 connected to the processor 1310 through a bus interface, the memory 1320 is used to store programs and data used by the processor 1310 when performing operations, and the processor 1310 calls and executes the programs and data stored in the memory 1320.

[0402] The transceiver 1300 is connected to the bus interface and is used to receive and send data under the control of the processor 1310; the processor 1310 is used to read the program in the memory 1320 and execute the following process:

[0403] An SCI sent by a first terminal is received, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

[0404] In some embodiments, the processor 1310 is further configured to read a program in the memory 1320 and execute the following process:

[0405] receiving first information sent by the first terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS;

[0406] When the number information indicates at least one PRS transmission, at least one PRS is transmitted to the first terminal according to the first information.

[0407] In some embodiments, the number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

[0408] In some embodiments, the processor 1310 is further configured to read a program in the memory 1320 and execute the following process:

[0409] receiving the first information sent by the first terminal through the SCI; or,

[0410] Receive the first information sent by the first terminal through high-layer signaling.

[0411] In some embodiments, when the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

[0412] In some embodiments, the processor 1310 is further configured to read a program in the memory 1320 and execute the following process:

[0413] A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

[0414] In some embodiments, the identification information of the measurement object includes at least one of the following:

[0415] The source ID corresponding to the PRS;

[0416] The target ID corresponding to the PRS;

[0417] The ID of the terminal participating in positioning.

[0418] In some embodiments, the processor 1310 is further configured to read a program in the memory 1320 and execute the following process:

[0419] Sending a second measurement result to the positioning service device;

[0420] The second measurement result carries at least one of the following information:

[0421] Bilateral RTT measurement order information;

[0422] Indication information of bilateral RTT positioning;

[0423] Indication information of one-way RTT positioning.

[0424] Among them, Fig.13 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1310 and memory represented by memory 1320. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1300 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, which may include a wireless channel, a wired channel, an optical cable, and other transmission media.

[0425] The processor 1310 is responsible for managing the bus architecture and general processing, and the memory 1320 can store data used by the processor 610 when performing operations.

[0426] The processor 1310 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0427] The present application also provides a processor-readable storage medium, which stores a computer program, and the computer program is used to enable the processor to execute the above-mentioned method for transmitting a positioning reference signal on the first terminal side or the second terminal side.

[0428] The processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drive (SSD)), etc.

[0429] It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0430] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0431] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0432] These processor executable instructions may also be stored in a processor readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the processor readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0433] These processor-executable instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0434] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for transmitting a positioning reference signal, characterized in that: Applied to the first terminal, comprising: Sending direct link control information SCI to the second terminal, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

2. The method for transmitting a positioning reference signal according to claim 1, characterized in that: Before sending the direct link control information SCI to the second terminal, the method further includes: determining whether the second terminal performs PRS transmission according to at least one of the following: capabilities of the second terminal; Network side configuration; System preconfiguration.

3. The method for transmitting a positioning reference signal according to claim 1, wherein: In a case where the SCI instructs the second terminal to transmit the PRS, the method further includes: Sending first information to the second terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS; When the number information indicates at least one PRS transmission, at least one PRS transmitted by the second terminal according to the first information is received.

4. The method for transmitting a positioning reference signal according to claim 3, characterized in that: The number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

5. The method for transmitting a positioning reference signal according to claim 3, characterized in that: The sending the first information to the second terminal includes: Sending the first information to the second terminal through the SCI; or, The first information is sent to the second terminal through high-layer signaling.

6. The method for transmitting a positioning reference signal according to claim 5, characterized in that: In a case where the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

7. The method for transmitting a positioning reference signal according to claim 1, characterized in that: Before sending the direct link control information SCI to the second terminal, the method further includes: A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

8. The method for transmitting a positioning reference signal according to claim 7, characterized in that: The identification information of the measurement object includes at least one of the following: The source ID corresponding to the PRS; The target ID corresponding to the PRS; The ID of the terminal participating in positioning.

9. The method for transmitting a positioning reference signal according to claim 7, characterized in that: After receiving the positioning request sent by the positioning service device, the method further includes: Sending a first measurement result to the positioning service device; The first measurement result carries at least one of the following information: Bilateral RTT measurement order information; Indication information of bilateral RTT positioning; Indication information of one-way RTT positioning.

10. A method for transmitting a positioning reference signal, characterized in that: Applied to the second terminal, including: An SCI sent by a first terminal is received, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

11. The method for transmitting a positioning reference signal according to claim 10, characterized in that: Whether the second terminal performs PRS transmission is determined according to at least one of the following: capabilities of the second terminal; Network side configuration; System preconfiguration.

12. The method for transmitting a positioning reference signal according to claim 10, characterized in that: In a case where the SCI instructs the second terminal to transmit the PRS, the method further includes: receiving first information sent by the first terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS; When the number information indicates at least one PRS transmission, at least one PRS is transmitted to the first terminal according to the first information.

13. The method for transmitting a positioning reference signal according to claim 12, characterized in that: The number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

14. The method for transmitting a positioning reference signal according to claim 12, characterized in that: The receiving first information sent by the first terminal includes: receiving the first information sent by the first terminal through the SCI; or, Receive the first information sent by the first terminal through high-layer signaling.

15. The method for transmitting a positioning reference signal according to claim 13, characterized in that: In a case where the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

16. The method for transmitting a positioning reference signal according to claim 10, characterized in that: The method further comprises: A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

17. The method for transmitting a positioning reference signal according to claim 16, characterized in that: The identification information of the measurement object includes at least one of the following: The source ID corresponding to the PRS; The target ID corresponding to the PRS; The ID of the terminal participating in positioning.

18. The method for transmitting a positioning reference signal according to claim 10, characterized in that: After receiving the positioning request sent by the positioning service device, the method further includes: Sending a second measurement result to the positioning service device; The second measurement result carries at least one of the following information: Bilateral RTT measurement order information; Indication information of bilateral RTT positioning; Indication information of one-way RTT positioning.

19. A first terminal, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is configured to read the program in the memory and execute the following process: Sending direct link control information SCI to the second terminal, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

20. The first terminal according to claim 19, characterized in that: The processor is also used to read the program in the memory and execute the following process: determining whether the second terminal performs PRS transmission according to at least one of the following: capabilities of the second terminal; Network side configuration; System preconfiguration.

21. The first terminal according to claim 19, characterized in that: When the SCI instructs the second terminal to transmit the PRS, the processor is further configured to read a program in a memory and perform the following process: Sending first information to the second terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS; When the number information indicates at least one PRS transmission, at least one PRS transmitted by the second terminal according to the first information is received.

22. The first terminal according to claim 21, characterized in that: The number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

23. The first terminal according to claim 21, characterized in that: The processor is also used to read the program in the memory and execute the following process: Sending the first information to the second terminal through the SCI; or, The first information is sent to the second terminal through high-layer signaling.

24. The first terminal according to claim 23, characterized in that: In a case where the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

25. The first terminal according to claim 19, characterized in that: The processor is also used to read the program in the memory and execute the following process: A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

26. The first terminal according to claim 25, characterized in that: The identification information of the measurement object includes at least one of the following: The source ID corresponding to the PRS; The target ID corresponding to the PRS; The ID of the terminal participating in positioning.

27. The first terminal according to claim 25, characterized in that: The processor is also used to read the program in the memory and execute the following process: Sending a first measurement result to the positioning service device; The first measurement result carries at least one of the following information: Bilateral RTT measurement order information; Indication information of bilateral RTT positioning; Indication information of one-way RTT positioning.

28. A second terminal, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is configured to read the program in the memory and execute the following process: An SCI sent by a first terminal is received, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

29. The second terminal according to claim 28, characterized in that: Whether the second terminal performs PRS transmission is determined according to at least one of the following: capabilities of the second terminal; Network side configuration; System preconfiguration.

30. The second terminal according to claim 28, characterized in that: When the SCI instructs the second terminal to transmit the PRS, the processor is further configured to read a program in a memory and perform the following process: receiving first information sent by the first terminal, where the first information is used to indicate the number of times the second terminal transmits the PRS; When the number information indicates at least one PRS transmission, at least one PRS is transmitted to the first terminal according to the first information.

31. The second terminal according to claim 30, characterized in that: The number information includes one of the following: 0 PRS transmissions, 1 PRS transmission, or 2 PRS transmissions.

32. The second terminal according to claim 30, characterized in that: The processor is also used to read the program in the memory and execute the following process: receiving the first information sent by the first terminal through the SCI; or, Receive the first information sent by the first terminal through high-layer signaling.

33. The second terminal according to claim 31, characterized in that: In a case where the transmission resource of the PRS belongs to a shared resource pool, the first information is located in a target field of the second-level SCI.

34. The second terminal according to claim 28, characterized in that: The processor is also used to read the program in the memory and execute the following process: A positioning request sent by a positioning service device is received, where the positioning request carries identification information of a measurement object.

35. The second terminal according to claim 34, characterized in that: The identification information of the measurement object includes at least one of the following: The source ID corresponding to the PRS; The target ID corresponding to the PRS; The ID of the terminal participating in positioning.

36. The second terminal according to claim 28, characterized in that: The processor is also used to read the program in the memory and execute the following process: Sending a second measurement result to the positioning service device; The second measurement result carries at least one of the following information: Bilateral RTT measurement order information; Indication information of bilateral RTT positioning; Indication information of one-way RTT positioning.

37. A positioning reference signal transmission device, characterized in that: Applied to the first terminal, comprising: The first sending module is used to send direct link control information SCI to the second terminal, where the SCI is used to indicate a transmission resource of a positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

38. A positioning reference signal transmission device, characterized in that: Applied to the second terminal, including: The third receiving module is used to receive the SCI sent by the first terminal, where the SCI is used to indicate the transmission resource of the positioning reference signal PRS sent by the first terminal and / or whether the second terminal performs PRS transmission.

39. A processor-readable storage medium, characterized in that: The processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the method for transmitting a positioning reference signal according to any one of claims 1 to 9, or to execute the method for transmitting a positioning reference signal according to any one of claims 10 to 18.

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